阅读说明：本技术 搬送装置 (conveying device ) 是由 渥美和也 于 2018-03-20 设计创作，主要内容包括：搬送装置(1)具备：主移动体(2)；主输送机构(4),其输送主移动体(2)；以及控制装置,其控制主输送机构(4)的动作,主输送机构(4)具有：多个绞盘(41A、41B),它们分别设置在主移动体(2)上；以及多个绳索体(42A、42B),它们分别卷绕在各绞盘上,各绞盘具有：筒状的卷筒,其能够以轴心线为中心旋转；以及驱动装置,其对卷筒进行旋转驱动,各绳索体构成为一边使位置在各卷筒的轴向上错开,一边在各绞盘的卷筒上卷绕并卷绕多周,且各绳索体的末端被与各绞盘对应的各支承体(10A、10B)支承,控制装置对分别设置在主移动体(2)上的各绞盘的驱动装置的动作分别进行控制,将主移动体(2)输送至遍及与各绞盘对应的多个支承体彼此之间的搬送路径(P)上的任意的位置。(A conveying device (1) is provided with: a main moving body (2); a main conveying mechanism (4) for conveying the main moving body (2); and a control device for controlling the operation of the main conveying mechanism (4), wherein the main conveying mechanism (4) comprises: a plurality of winches (41A, 41B) provided on the main moving body (2), respectively; and a plurality of rope bodies (42A, 42B) wound around the respective winches, each winch having: a cylindrical drum rotatable about an axis; and a drive device for rotationally driving the drum, wherein each rope body is configured to be wound around the drum of each winch for a plurality of cycles while being shifted in position in the axial direction of each drum, and the end of each rope body is supported by each support body (10A, 10B) corresponding to each winch, and the control device controls the operation of the drive device of each winch provided on the main moving body (2) to transport the main moving body (2) to an arbitrary position on a transport path (P) extending between the support bodies corresponding to each winch.)

1. A conveying device is characterized by comprising:

a main moving body;

A main conveying mechanism that conveys the main moving body; and

a control device for controlling the operation of the main conveying mechanism,

The main conveying mechanism has:

a plurality of winches provided to the main moving body, respectively; and

A plurality of rope bodies wound around the respective winches,

Each of the winches has:

a cylindrical drum rotatable about an axis; and

a drive device that rotationally drives the drum,

Each of the rope bodies is configured to be wound around the drum of each of the winches for a plurality of revolutions while being shifted in position in the axial direction of each of the drums, and a tip end of each of the rope bodies is supported by each of the support bodies corresponding to each of the winches,

the control device controls the operation of the drive device of each winch provided on the main moving body, and conveys the main moving body to an arbitrary position on a conveyance path between the support bodies corresponding to the winches.

2. The conveying device according to claim 1,

The control device adjusts the winding amount and the feeding amount of each rope body of the plurality of winches to be the same.

3. The conveying device according to claim 1 or 2,

The main conveying mechanism is configured to include a1 st winch and a2 nd winch as the plurality of winches, and the plurality of rope bodies include a1 st rope body wound around a drum of the 1 st winch and a2 nd rope body wound around a drum of the 2 nd winch,

The reel of the 1 st winch can rotate around a1 st axis, the reel of the 2 nd winch can rotate around a2 nd axis parallel to the 1 st axis,

A base end side of the 1 st rope body is wound around a winding drum of the 1 st capstan and a tip end thereof is supported by a1 st support body serving as the support body,

The 2 nd rope body has a base end side wound around the winding drum of the 2 nd capstan and a tip end supported by a2 nd support body serving as the support body.

4. The conveying device according to any one of claims 1 to 3,

the main moving body is constituted by a plurality of divided bodies, and the winches are provided on the divided bodies, respectively.

5. The conveying device according to claim 4,

the conveying device includes an inter-distance adjusting mechanism that adjusts a distance between the plurality of divided bodies.

6. the conveying device according to claim 4,

the conveying device is provided with a connecting mechanism which enables the plurality of split bodies to be arranged along a specified direction with intervals and connects the plurality of split bodies,

the connection mechanism includes two connection portions that can be set in a connected state or a disconnected state at a distance in a direction intersecting the predetermined direction.

7. the handling device according to any one of claims 3 to 6,

The main transport mechanism moves the main moving body in a1 st direction in a plan view or a side view,

the conveying device further includes an auxiliary conveying mechanism that moves the main moving body in a2 nd direction intersecting the 1 st direction,

the auxiliary conveyance mechanism includes a1 st auxiliary moving body and a2 nd auxiliary moving body, the 1 st and 2 nd auxiliary moving bodies being disposed at an interval from each other in the 1 st direction and moving in the 2 nd direction, respectively,

The 1 st auxiliary moving body supports the end of the 1 st rope body to constitute the 1 st support body,

The 2 nd auxiliary moving body supports the end of the 2 nd rope body, and constitutes the 2 nd support body.

8. the conveying device according to claim 7,

The main moving body includes a housing section that houses the 1 st auxiliary moving body and the 2 nd auxiliary moving body.

9. the conveying device according to claim 7 or 8,

the auxiliary conveying mechanism further has a1 st guide member and a2 nd guide member extending in the 2 nd direction respectively,

The 1 st auxiliary mobile body moves in the 2 nd direction under the guidance of the 1 st guide member,

The 2 nd auxiliary moving body moves in the 2 nd direction under the guidance of the 2 nd guide member.

10. The conveying device according to claim 3,

the main transport mechanism is further provided with a 3 rd capstan and a 4 th capstan as the plurality of capstans,

The main conveying mechanism further includes a 3 rd rope body and a 4 th rope body as the plurality of rope bodies,

The reel of the 3 rd capstan being rotatable about a 3 rd axis extending in a direction intersecting the 1 st axis, the reel of the 4 th capstan being rotatable about a 4 th axis parallel to the 3 rd axis,

A base end side of the 3 rd rope body is wound around a winding drum of the 3 rd capstan and a tip end thereof is supported by a 3 rd support body as the support body,

The 4 th rope body has a base end side wound around the drum of the 4 th capstan and a tip end supported by a 4 th support body serving as the support body.

11. the handling device according to any one of claims 1 to 10,

the host mobile body is a vehicle.

12. the handling device according to any one of claims 1 to 10,

the conveying device includes a holding mechanism provided to the main moving body and capable of holding the conveying object.

13. The conveying device according to claim 12,

the holding mechanism includes:

A hanging member having an upper end connected to the main moving body and hanging down from the main moving body; and

And a holding member attached to a lower end of the hanging member and holding the conveyance target.

14. the conveying device according to claim 13,

The holding mechanism further includes a lifting device for lifting and lowering the holding member.

15. The handling device according to any one of claims 12 to 14,

The conveying device includes a rotating mechanism attached to the main moving body and configured to rotate the conveying object in a lateral direction.

16. The handling device according to any one of claims 12 to 15,

The conveyance target is a vehicle.

17. The conveying device according to claim 16,

The vehicle is detachably held by the main moving body by the holding mechanism.

18. The handling device according to any one of claims 12 to 15,

The conveying object is a working machine.

19. the conveying device according to claim 12,

The conveying device includes a swinging body swingably attached to the main moving body,

The holding mechanism is provided to the swinging body.

20. The handling device according to any one of claims 1 to 10,

the conveying object is a working machine,

The conveyance device includes a plurality of hanging members having upper ends connected to the main moving body and hanging from the main moving body,

a plurality of the work machines are held by the respective hanging members.

21. the handling device according to any one of claims 1 to 20,

The main transport mechanism moves the main moving body in a1 st direction,

At least one of the plurality of winches is configured such that the drum rotates about a shaft axis extending in a direction intersecting the 1 st direction and is disposed outside the main moving body.

22. the handling device according to any one of claims 1 to 20,

The main transport mechanism moves the main moving body in a1 st direction,

At least one of the plurality of winches is configured such that the drum rotates about a shaft axis extending in the 1 st direction, and the at least one winch is disposed outside the main moving body,

The at least one winch is a spinning reel type winch that sends and winds the rope body wound on the winding drum of the at least one winch in the 1 st direction.

23. the handling device according to any one of claims 1 to 22,

the main moving body is annular, and the plurality of winches are provided on the main moving body so that the installation positions thereof can be changed.

24. A conveying device is characterized by comprising:

A main moving body;

A main conveying mechanism that conveys the main moving body; and

A control device for controlling the operation of the main conveying mechanism,

The main conveying mechanism has:

a plurality of winches attached to the main moving body and having a rotatable drum and a driving device for rotationally driving the drum; and

A rope body wound around each of the reels of the plurality of winches and having a distal end supported by a support body corresponding to the winch,

the control device controls the operation of the driving devices of the plurality of winches to convey the main moving body to an arbitrary position on a conveyance path between the plurality of support bodies,

The main moving body is configured as a traveling body having front wheels and rear wheels that are driven by the drive device, respectively, and that is held in the air,

As the spool, a spool that winds the rope body when the traveling body advances is fixed to the front wheel so as to rotate integrally with the front wheel, and a spool that feeds out the rope body when the traveling body advances is fixed to the rear wheel so as to rotate integrally with the rear wheel.

25. a conveying device is characterized by comprising:

a main moving body;

A main conveying mechanism that conveys the main moving body; and

a control device for controlling the operation of the main conveying mechanism,

The main conveying mechanism has:

a plurality of winches attached to the main moving body and having a rotatable drum and a driving device for rotationally driving the drum; and

A rope body wound around each of the reels of the plurality of winches and having a distal end supported by a support body corresponding to the winch,

The control device controls the operation of the driving devices of the plurality of winches to convey the main moving body to an arbitrary position on a conveyance path between the plurality of support bodies,

The main moving body is configured as a traveling body having wheels driven by the driving device,

The reel is configured such that a reel for winding the rope body and a reel for feeding out the rope body when the traveling body advances are coaxially fixed, the fixed reels are fixed to the wheels and rotate integrally with the wheels, and the wheels drive both reels.

26. The conveying device according to claim 1,

an auxiliary winch is installed at the end of the rope body wound on the winch.

27. a conveying device is characterized by comprising:

a main moving body;

A main conveying mechanism that conveys the main moving body; and

a control device for controlling the operation of the main conveying mechanism,

the main conveying mechanism has:

A plurality of winches mounted on the main moving body and having a rotatable drum and a driving device for rotationally driving the drum; and

a rope body wound around each of the reels of the plurality of winches and having a distal end supported by a support body corresponding to the winch,

the control device controls the operation of the driving devices of the plurality of winches to convey the main moving body to an arbitrary position on a conveyance path between the plurality of support bodies,

The main conveying mechanism further includes a1 st capstan and a2 nd capstan as the plurality of capstans, and the rope body includes a1 st rope body portion constituting one end side and a2 nd rope body portion constituting the other end side,

the reel of the 1 st winch can rotate around a1 st axis, the reel of the 2 nd winch can rotate around a2 nd axis parallel to the 1 st axis,

A base end side of the 1 st rope body is wound around a drum of the 1 st capstan and a tip end thereof is supported by a1 st support body serving as the support body,

A base end side of the 2 nd rope body is wound around a drum of the 2 nd capstan and a tip end thereof is supported by a2 nd support body serving as the support body,

and the 1 st rope body and the 2 nd rope body are integrally formed,

The 1 st winch and the 2 nd winch are installed on the upper surface of the main conveying mechanism,

A concave slack storage portion that stores a slack generated between the 1 st rope body and the 2 nd rope body is formed in the main conveying mechanism.

28. A conveying device is characterized by comprising:

a main moving body;

a main conveying mechanism that conveys the main moving body; and

A control device for controlling the operation of the main conveying mechanism,

The main conveying mechanism has:

a plurality of winches attached to the main moving body and having a rotatable drum and a driving device for rotationally driving the drum; and

a rope body wound around each of the reels of the plurality of winches and having a distal end supported by a support body corresponding to the winch,

the control device controls the operation of the driving devices of the plurality of winches to convey the main moving body to an arbitrary position on a conveyance path between the plurality of support bodies,

The main conveying mechanism further includes a1 st capstan and a2 nd capstan as the plurality of capstans, and the rope body includes a1 st rope body portion constituting one end side and a2 nd rope body portion constituting the other end side,

The reel of the 1 st winch can rotate around a1 st axis, the reel of the 2 nd winch can rotate around a2 nd axis parallel to the 1 st axis,

A base end side of the 1 st rope body is wound around a drum of the 1 st capstan and a tip end thereof is supported by a1 st support body serving as the support body,

A base end side of the 2 nd rope body is wound around a drum of the 2 nd capstan and a tip end thereof is supported by a2 nd support body as the support body,

And the 1 st rope body and the 2 nd rope body are integrally formed,

the main conveyor is formed with a slack eliminating mechanism that eliminates slack of the rope body generated between the 1 st rope body portion and the 2 nd rope body portion.

29. a conveying device is characterized by comprising:

a main moving body;

A main conveying mechanism that conveys the main moving body; and

A control device for controlling the operation of the main conveying mechanism,

The main conveying mechanism has:

A plurality of winches attached to the main moving body and having a rotatable drum and a driving device for rotationally driving the drum; and

A rope body wound around each of the reels of the plurality of winches and having a distal end supported by a support body corresponding to the winch,

The control device controls the operation of the driving devices of the plurality of winches to convey the main moving body to an arbitrary position on a conveyance path between the plurality of support bodies,

the main conveying mechanism comprises a1 st winch and a2 nd winch as the plurality of winches, and the rope body comprises a1 st rope body portion constituting one end side and a2 nd rope body portion constituting the other end side,

The reel of the 1 st winch can rotate around a1 st axis, the reel of the 2 nd winch can rotate around a2 nd axis parallel to the 1 st axis,

a base end side of the 1 st rope body is wound around a drum of the 1 st capstan and a tip end thereof is supported by a1 st support body serving as the support body,

a base end side of the 2 nd rope body is wound around a drum of the 2 nd capstan and a tip end thereof is supported by a2 nd support body as the support body,

the main transport mechanism moves the main moving body in a1 st direction in a plan view or a side view,

The conveying device further includes an auxiliary conveying mechanism for moving the main moving body in a2 nd direction intersecting the 1 st direction,

The auxiliary conveyance mechanism has a1 st auxiliary mobile body and a2 nd auxiliary mobile body, the 1 st and 2 nd auxiliary mobile bodies being arranged at an interval from each other in the 1 st direction and moving in the 2 nd direction, respectively,

The 1 st auxiliary moving body supports the end of the 1 st rope body to constitute the 1 st support body,

the 2 nd auxiliary moving body supports the end of the 2 nd rope body to constitute the 2 nd support body,

The main moving body includes a housing section for housing the 1 st auxiliary moving body and the 2 nd auxiliary moving body.

30. The handling device according to any one of claims 27 to 29,

The control device independently adjusts the winding amount or the feeding amount of each rope body portion of the plurality of winches.

31. the conveying device according to claim 27,

The conveying device is provided with a slack eliminating mechanism for eliminating slack of the rope body generated between the 1 st rope body part and the 2 nd rope body part.

Technical Field

The present invention relates to a conveying device applied to conveyance of, for example, a vehicle and a working machine.

Background

Conventionally, various transport devices exemplified by a crane device have been proposed (for example, patent documents 1 and 2).

the following describes each technique disclosed in patent documents 1 and 2. The parenthesized reference numerals are those used in patent documents 1 and 2.

Patent document 1 discloses a "rail-type cable crane including: rail ropes (1), (2) which are erected in parallel; running trolleys (3) and (4) respectively carried on the track cables (1) and (2); a main cable (11) suspended on the travelling trolleys (3), (4); and a transverse trolley (17) "(refer to page 2, upper right column line 4-lower left column line 7, figure 1, etc.) mounted on the main rope (11).

Patent document 2 discloses a gantry crane (1) including: a beam (2) in a horizontal attitude; a trolley (3) reciprocating along the beam (2) and having a spreader lifting device (6); and a spreader (8) "(see paragraphs [0015] - [0016], FIG. 1, etc.).

Disclosure of Invention

Problems to be solved by the invention

However, as exemplified by the cranes disclosed in patent documents 1 and 2, the conveying device is generally a large-sized fixed equipment that repeats conveyance for a long period of time. However, there are cases where the conveyance is required to be performed only several times in a short time. In such a case, a general conveyance device as a large-sized stationary equipment is not suitable.

The present invention has been made in view of the above-described problems, and an object thereof is to provide a conveying device that can be easily installed.

Means for solving the problems

in order to achieve the above object, a conveying device according to the present invention includes: a main moving body; a main conveying mechanism that conveys the main moving body; and a control device for controlling the operation of the main conveying mechanism, wherein the main conveying mechanism comprises: a plurality of winches provided on the main moving body, respectively; and a plurality of rope bodies wound around the respective winches, each of the winches having: a cylindrical drum rotatable about an axis; and a drive device that rotationally drives the drum, wherein each of the rope bodies is configured as a rope body that is wound around the drum of each of the capstans a plurality of times with ends supported by the support bodies corresponding to the capstans when the drum is displaced in the axial direction, and the control device controls the operation of the drive device of each of the capstans provided to the main moving body, respectively, and conveys the main moving body to an arbitrary position of a conveyance path between the support bodies corresponding to the capstans.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the present invention, the main moving body is provided with the main conveying mechanism including the plurality of winches and the rope body, and the main part of the conveying device is mounted on the main moving body in a concentrated manner. Thus, if the support body is provided at the use place of the conveying device, the conveying device can be installed only by conveying the main moving body and fixing the rope body to the support body.

Therefore, even when the transport can be performed only several times in a short time, the transport device can be easily installed. Further, since the rope body is wound around each of the plurality of capstans and the end of the rope body is supported by the support body corresponding to each capstan, the rope body does not slip or bend, and the main moving body can be moved smoothly.

drawings

fig. 1 is a schematic diagram showing the overall configuration of a conveying device according to embodiment 1 of the present invention, where (a) is a side view and a cross-sectional view in side view, and (b) is a plan view.

Fig. 2 is a schematic diagram showing a configuration of a main part of a conveying device according to embodiment 1 of the present invention, where (a) is a cross-sectional view showing an enlarged portion of a1 in fig. 1(a), and (b) is an enlarged view of a2 in fig. 1 (b).

fig. 3 is a schematic side view showing the overall configuration of a conveying device according to embodiment 2 of the present invention.

fig. 4 is a schematic side view showing the overall configuration of a conveying device according to embodiment 3 of the present invention.

Fig. 5 is a schematic diagram showing the overall configuration of a conveying device according to embodiment 4 of the present invention, where (a) is a cross-sectional view as seen from a side view, and (b) is a plan view.

Fig. 6 is a schematic plan view showing the overall configuration of the conveying device according to embodiment 5 of the present invention.

Fig. 7 is a schematic side view showing the overall configuration of a conveying device according to embodiment 6 of the present invention.

fig. 8 is a schematic front view showing a configuration of a main part of a modification of the conveying device according to embodiment 6 of the present invention.

Fig. 9 is a schematic diagram showing the configuration of the main parts of the conveying device according to embodiment 7 of the present invention, where (a) is a side view and (b) is a plan view.

Fig. 10 is a schematic diagram showing a configuration of a main part of a modified example 1 of a conveying device according to embodiment 7 of the present invention, where (a) is a side view and (b) is a plan view.

Fig. 11 is a schematic diagram showing a configuration of a main part of modification 2 of the conveying device according to embodiment 7 of the present invention, in which (a) is a side view and (b) is a plan view.

fig. 12 is a schematic side view showing the overall configuration of a conveying device according to embodiment 8 of the present invention.

fig. 13 is a schematic side view showing the overall configuration of a conveying device according to embodiment 9 of the present invention.

Fig. 14 is a schematic plan view showing the overall configuration of a conveying device according to embodiment 10 of the present invention.

fig. 15 is a schematic side view showing the overall configuration of a conveying device according to embodiment 11 of the present invention.

fig. 16 is a schematic side view showing the overall configuration of a conveying device according to embodiment 12 of the present invention.

fig. 17 (a) and (b) are schematic side views showing the overall configuration of the conveying device according to embodiment 13 of the present invention.

Fig. 18 is a schematic plan view showing a configuration of a main part of a conveying device according to embodiment 14 of the present invention.

Fig. 19 is a schematic plan view showing the structure of a conveying device according to embodiment 15 of the present invention.

Fig. 20 is a schematic side view showing the structure of a conveying device according to embodiment 16 of the present invention.

Fig. 21 is a schematic plan view showing the structure of a conveyance device according to embodiment 17 of the present invention.

fig. 22 (a), (b), (c), and (d) are schematic plan views of essential parts for explaining the operation of the conveying device according to embodiment 17 of the present invention.

fig. 23 is a schematic plan view showing a configuration of a modification of the conveyance device according to embodiment 17 of the present invention.

Fig. 24 is a schematic diagram showing the configuration of a conveying device according to embodiment 18 of the present invention, in which (a) is a plan view and (b) is a side view.

Fig. 25 is a schematic plan view showing a configuration of a modification of the conveyance device according to embodiment 18 of the present invention.

Fig. 26 (a) and (b) are schematic side views showing the configuration of a modification of the conveying device according to embodiment 18 of the present invention.

fig. 27 (a) and (b) are schematic side views showing the structure of a modified example of the trolley.

Fig. 28 is a schematic side view showing the configuration of the main parts of a modification of the conveyance device according to embodiment 4 and embodiment 5 of the present invention.

Fig. 29 is a schematic diagram showing a configuration of a main part of a modified example of the conveying device of the present invention, where (a) is a plan view and (b) is a sectional view taken along line a-a of (a).

Fig. 30 is a schematic perspective view showing a main part configuration of a modified example of the conveying device of the present invention.

fig. 31 is a schematic perspective view showing a main part configuration of a modified example of the conveying device of the present invention.

fig. 32 is a schematic perspective view showing a main part structure of a modified example of the conveying device of the present invention.

Fig. 33 is a schematic plan view showing a configuration of a modification of the conveying device of the present invention.

Fig. 34 is a schematic plan view showing a configuration of a modification of the conveying device of the present invention.

fig. 35 is a schematic plan view showing a configuration of a modification of the conveying device of the present invention.

fig. 36 is a schematic diagram showing a configuration of a modification of the conveying device of the present invention, in which (a) is a side view and (b) is a bottom view.

Detailed Description

hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiments described below are merely examples, and various modifications and techniques that are not explicitly described in the embodiments below are not intended to be excluded. The configurations of the following embodiments can be variously modified and implemented without departing from the scope of the invention.

[1 ] embodiment 1 ]

[1-1. Structure of conveying device ]

A conveying device according to embodiment 1 of the present invention will be described with reference to fig. 1 and 2.

Fig. 1 is a schematic diagram showing the overall configuration of a conveying device according to embodiment 1 of the present invention, where (a) is a side view and a cross-sectional view in side view, and (b) is a plan view.

fig. 2 is a schematic diagram showing a configuration of a main part of a conveying device according to embodiment 1 of the present invention, where (a) is a cross-sectional view showing an enlarged portion of a1 in fig. 1(a), and (b) is an enlarged view of a2 in fig. 1 (b).

the conveying apparatus 1 of the present embodiment conveys the construction material (conveying target) 50 from a material yard installed on the river bank 100A to a construction site on the river bank 100B over the river 100. For convenience, fig. 2 (a) shows the river 100 and the banks 100A and 100B in a cross-sectional view in a side view, and shows the other in a side view.

As shown in fig. 1(a) and (b) and fig. 2 (a) and (b), the conveying device 1 includes: a moving body (main moving body) 2; a holding mechanism 3 attached to the movable body 2 and capable of holding the construction material 50; a conveying mechanism (main conveying mechanism) 4 that conveys the moving body 2 between columns (support bodies) 10A and 10B provided upright on the banks 100A and 100B, respectively; and a controller (control device) 5 that controls the operation of the conveyance mechanism 4.

the moving body 2 is in a rectangular plate shape and is set in a horizontal posture in which the thickness direction thereof is oriented vertically. As shown in fig. 2 (a) and (b), a disk-shaped turntable 34 and an electric motor 34a (not shown in fig. 1(a) and (b)) are provided on the lower surface of the moving body 2. The turntable 34 is fixed to the lower surface of the movable body 2 so as to be laterally rotatable, and by operating an electric motor (hereinafter referred to as "motor") 34a, the turntable 34 can be laterally rotated by a predetermined angle via a transmission mechanism 34b which is simplified and shown. This allows the construction material (object to be conveyed) 50 on the holding mechanism 3 connected to the turntable 34 to be oriented in an appropriate direction, and the turntable 34 and the motor 34a constitute a rotation mechanism for rotating the construction material 50 in the lateral direction.

The holding mechanism 3 includes: a winch 33 for lifting; a wire (hanging member) 31 having an upper end connected to the movable body 2 via a lifting winch (lifting device) 33 and a turntable 34; and a holding member 32 fixed to a lower end of the wire 31 to mount the construction material 50 thereon. The holding member 32 is formed by connecting 4 corners of a top wall 32a having a rectangular shape in plan view and a bottom wall 32b having a rectangular shape in plan view with a line 32 c.

specifically, the lifting winch 33 includes: a pair of supporting frames 33a protrudingly provided on a lower surface of the turntable 34; a reel 33b supported by the support frames 33a so as to be rotatable at both axial ends; a power transmission mechanism 33d shown simplified; and an electric motor (hereinafter referred to as "motor") 33c that rotationally drives the drum 33b via the power transmission mechanism 33 d. The upper end side of the wire 31 is wound around the reel 33 b.

The conveyance mechanism 4 includes: a conveyance winch (1 st winch) 41A and a conveyance winch (2 nd winch) 41B provided on the upper surface of the mobile body 2; and a line (1 st rope body) 42A and a line (2 nd rope body) 42B connected to the conveying winches 41A and 41B.

The conveyance winches 41A, 41B are configured in the same manner, and the following expression is "winch 41" without distinguishing the conveyance winches 41A, 41B. Similarly, when the lines 42A and 42B are not distinguished, the following expression is "line 42".

the winch 41 includes: a pair of support frames 41a provided to protrude from an upper surface of the moving body 2; a reel 41b supported by the support frames 41a so as to be rotatable at both ends in the axial direction; a power transmission mechanism 41d shown simplified; and an electric motor (hereinafter referred to as "motor") 41c that rotationally drives the drum 41b via the power transmission mechanism 41 d. The base end side of the wire 42 is wound around the reel 41 b.

Here, the drum 41B of the conveying winch 41A is rotated about the axis CL1, and the drum 41B of the conveying winch 41B is rotated about the axis CL2 parallel to the axis CL 1.

as shown in fig. 1 (B), the support column 10A, the conveyance winch 41B, and the support column 10B are arranged in this order along the 1 st direction D1 in a plan view. The end of the line 42A connected to the transport winch 41A is fixed to the support point PA of the column 10A, and the end of the line 42B connected to the transport winch 41B is fixed to the support point PB of the column 10B. The support points PA and PB are set at the same height [ see fig. 1(a) ], and the transport path P of the mobile body 2 from the support point PA to the support point PB formed by the lines 42A and 42B is formed to be horizontal (including substantially horizontal.

the controller 5 receives an operation signal from an external operation device, not shown, for example, by wireless, and controls the operation of the motors 33c, 34a, and 41c in accordance with the operation signal.

specifically, when an up command is input from the operation device, the controller 5 rotates the motor 33c in the forward direction. Thereby, the drum 33b of the lifting winch 33 rotates in the forward longitudinal direction, the wire 31 is wound around the drum 33b, and the holding member 32 is lifted against the gravity. In contrast, when a lowering command is input from the operation device, the controller 5 rotates the motor 33c in the reverse direction. Thereby, the drum 33b of the lifting winch 33 is rotated vertically in the opposite direction, the wire 31 is fed out from the drum 33b, and the holding member 32 is lowered by gravity.

when a command to move the support point PB of the column 10B (hereinafter referred to as a "right advance command", and conversely, a command to move the support point PA of the column 10A is referred to as a "left advance command") is input from the operating device to the controller 5, the controller 5 controls the operation of the motors 41c of the conveyance winches 41A and 41B to rotate the reels 41B of the conveyance winches 41A and 41B forward at rotational speeds at which the feed length (feed amount) of the wire 42A and the take-up length (take-up amount) of the wire 42B are equal to each other, as indicated by arrows a1 and B1. Thereby, the wire 42A is fed out from the conveying capstan 41A, and the wire 42B is wound by the conveying capstan 41B.

Since the length Δ LA of the wire 42A fed out from the conveying capstan 41A and the length Δ LB of the wire 42B wound up by the conveying capstan 41B are equal to each other, the moving body 2 moves horizontally (in the 1 st direction in plan view) toward the support point PB by the distance Δ L equal to the lengths Δ LA and Δ LB while maintaining the tensions of the wires 42A and 42B.

On the other hand, when a left-hand command is input from the operating device to the controller 5, the controller 5 controls the operation of the motors 41c of the conveyance winches 41A and 41B to rotate the reels 41B of the conveyance winches 41A and 41B in the opposite directions at the same rotational speeds such that the winding length of the wire 42A and the feeding length of the wire 42B are equal to each other, as indicated by arrows a2 and B2. Thereby, the moving body 2 moves horizontally (in the 1 st direction in plan view) toward the support point PA by a predetermined distance while maintaining the tension of the wires 42A, 42B.

by appropriately performing such an operation of the operating device, the moving body 2 can be conveyed to an arbitrary position on the conveyance path P from the support point PA of the line 42A on the column 10A to the support point PB of the line 42B on the column 10B.

The moving body 2 includes a battery, not shown, and the electric motors 34 and 33c and the controller 5 are supplied with power from the battery.

further, tension sensors for detecting the tensions of the wires 42A and 42B may be provided, and when the tensions of the wires 42A and 42B are lower than a threshold value, the motor 41c may be operated to wind the wires 42A and 42B by the conveying winch 41A until the tensions of the wires 42A and 42B exceed the threshold value by a predetermined value.

The operation device is not limited to a dedicated device, and a general-purpose portable terminal such as a smartphone or a tablet computer may be used.

[1-2. conveyance by a conveying device ]

The following describes the conveyance of the construction material 50 by the conveyance device 1 as embodiment 1 of the present invention, with reference to fig. 1.

The conveyance of the construction material 50 by the conveyance device 1 is performed by an operator operating the operation device, for example, in the following manner.

After the moving body 2 is transported to the support point PA of the support column 10A, the holding member 32 is lowered until it lands near a material yard provided on the bank 100A. After the construction material 50 is carried from the material yard onto the holding member 32 that has landed, the holding member 32 is raised to a height at which the holding member does not contact surrounding pedestrians, vehicles, or buildings, and then the moving body 2 is conveyed to the support point PB of the column 10B. Then, the long strip of the construction material 50 is lowered after the turntable 34 is rotated in the lateral direction to face in an appropriate direction until the construction site on the river bank 100B lands. Thereby completing the conveyance of the construction material 50.

[1-3. action/Effect ]

the operational effects of the conveying device 1 according to embodiment 1 of the present invention will be described below with reference to fig. 1(a) and (b) and fig. 2 (a) and (b).

A plurality of (two in the present embodiment) conveyance winches 41A and 41B and a plurality of (two in the present embodiment) lines 42A and 42B are attached to the moving body 2, and the main part of the conveyance device 1 is integrally attached to the moving body 2. In particular, if the lines 42A and 42B are already wound by the conveyance winches 41A and 41B, the main part of the conveyance device 1 can be stored in the mobile body 2, and the conveyance device 1 can be easily conveyed to the installation site.

Thus, if the pillars 10A and 10B are provided in advance on the banks 100A and 100B as the use places of the transport apparatus 1, the transport apparatus 1 can be installed only by transporting the mobile body 2 and fixing the ends of the lines 42A and 42B to the pillars 10A and 10B, respectively.

Therefore, even when the conveyance is performed only several times in a short time, the conveyance device 1 can be easily installed.

further, since the holding member 32 can be laterally rotated by the turntable 34, the holding member 32 can be oriented in a direction in which the construction material 50 can be easily conveyed, or the construction material 50 to be conveyed can be oriented in a direction in which it can be easily used at a construction site.

[1-4. modified examples ]

(1) in embodiment 1, the lifting winch 33 may be omitted, and the upper end of the wire 31 may be directly attached to the turntable 34. In this case, the holding member 32 can be raised and lowered by controlling the operation of the conveyance winches 41A and 41B. That is, the holding member 32 can be lowered by gravity by loosening the wires 42A and 42B from at least one of the conveyance winches 41A and 41B, and conversely, the holding member 32 can be raised by winding the wires 42A and 42B by at least one of the conveyance winches 41A and 41B, and pulling the wires 42A and 42B toward the conveyance winches 41A and 41B.

(2) Although the building material 50 is the object to be conveyed in embodiment 1, the object to be conveyed by the conveying apparatus 1 is not limited to the building material 50. For example, the object to be conveyed may be a person, and may be used for transportation of the person or for moving an operator to an appropriate position when cleaning a window of a tall building.

alternatively, a working machine such as a mower, or a vehicle such as an automobile or a ship may be directly attached to the lower end of the line 31. When a vehicle is mounted, the vehicle may or may not include a driving device. In the case of a vehicle without a driving device, the conveying device 1 substantially constitutes the driving device. In the case of a vehicle equipped with a drive device, for example, in the case of a vehicle (including not only small-sized vehicles but also large-sized vehicles such as trailers and buses, the same applies hereinafter), when crossing a river, the vehicle can be raised by the raising and lowering winch 33 to be in a suspended state, moved from above the river to the opposite bank by the conveying device 1, and then lowered by the raising and lowering winch 33 until reaching the ground, so that the vehicle can travel. In the case of a ship, the ship can be raised by the raising and lowering winch 33 to be suspended, and after being moved to a river by the transport device 1, the ship can be lowered to the river by the raising and lowering winch 33.

(3) In the above-described embodiment 1, the reels 41B of the conveyance winches 41A, 41B are set in the vertical posture in which they face upward on the upper surface of the moving body 2, but the reels 41B of the conveyance winches 41A, 41B may be set in the horizontal posture in which the right and left end surfaces (in other words, the end surfaces facing the extending direction of the lines 42A, 42B) of the moving body 2 face outward of the moving body 2 in fig. 2 (a) and (B).

[2 ] embodiment 2 ]

[2-1. Structure of conveying device ]

the conveying apparatus 1' of the present embodiment is different from that of embodiment 1 mainly in that the conveying target is an operation arm (operation machine) 6.

Hereinafter, a conveying device according to embodiment 2 of the present invention will be specifically described with reference to fig. 3.

Fig. 3 is a schematic side view showing the overall configuration of a conveying device according to embodiment 2 of the present invention.

the same elements as those in embodiment 1 are denoted by the same reference numerals and their description is omitted. In fig. 3, the controller, the motor for driving the conveyance winch, and the battery are not shown.

in the conveying device 1' of the present embodiment, the working arm 6 is directly attached to the lower surface of the turntable 34.

The work arm 6 includes an arm member 60, a joint member 61, an arm member 62, and a work device 63 such as a welding machine or a melting machine.

for example, a base end portion of the arm member 60 is attached to an outer peripheral edge of the turntable 34 by bolt fastening (holding mechanism), and a tip end portion of the arm member 60 is attached to the joint member 61. A base end portion of the arm member 62 is attached to the joint member 61, and a working device 63 is detachably attached to a tip end portion of the arm member 62. Although the joint member 61 is shown in a simplified manner in fig. 3, an electric motor (hereinafter referred to as "motor"), not shown, is provided for operating the joint member 61 while the arm member 62 is connected to the arm member 60 so as to be rotatable in the longitudinal direction.

The controller 5 (see fig. 2b) controls the operation of the motor of the joint member 61 based on an operation signal input from the external operation device (not shown), bends and extends the arm member 60, and controls the operation of the working device 63.

As the working device 63, various devices can be used, and for example, a working device for removing a building can be used. The number of the work booms 6 mounted on the turntable 34 is not limited at all, and may be two, for example.

the other structures are the same as those of embodiment 1, and therefore, the description thereof is omitted.

[2-2. action/Effect ]

According to the conveying device 1' according to embodiment 2 of the present invention, the following effects can be obtained in addition to the operations and effects of embodiment 1.

the operator can control the operations of the transport winches 41A and 41B and the turn table 34 using an external operation device to transport the arm 6 to a predetermined operation position, and thus can perform operations using the arm 6, for example, for high-altitude operations that are dangerous to be performed by a person.

[3 ] embodiment 3 ]

[3-1. Structure of conveying device ]

the conveying device 1 ″ of the present embodiment is different from that of embodiment 2 mainly in that it includes a plurality of work arms 6, and in that a cutting chain saw (hereinafter referred to as a "chain saw") 7 is provided at each end of each of the work arms 6.

Hereinafter, a conveying device according to embodiment 3 of the present invention will be specifically described with reference to fig. 4.

Fig. 4 is a schematic side view showing the overall configuration of a conveying device according to embodiment 3 of the present invention.

note that the same elements as those in embodiment 1 and embodiment 2 are denoted by the same reference numerals, and descriptions thereof are omitted. In fig. 4, a motor and a battery for driving the conveyance winch are not shown.

the conveying device 1 ″ of the present embodiment includes a plurality of rods (hanging members) 8 attached to the lower side of the moving body 2 via the turntable 34, and a plurality of work arms 6 attached to the rods 8. The arm 6 can be raised and lowered on the rod 8 by a not-shown raising and lowering mechanism. For example, by remotely operating the lifting mechanism, the height of the work arm 6 and the chainsaw 7 can be made to coincide with the height of the branches of a tree shown by the broken lines in fig. 4.

In addition, a cable may be used instead of the lever 8. Note that, for convenience, a part of the work arm 6 and the chain saw 7 is omitted in fig. 4.

A plurality of rods 8 are arranged at equal intervals in the circumferential direction on the outer periphery of the turntable 34, and each rod depends from the turntable 34. The rods 8 may be arranged in a radial direction.

Further, a hook member 20g having a hook-shaped end is provided upright on the upper surface of the moving body 2. Further, a reinforcing wire 46 is laid horizontally or substantially horizontally above the wires 42A, 42B between the pillars 10A, 10B. The hook-shaped end of the hook member 20g is positioned above the conveying winches 41A and 41B and is hooked on the reinforcing wire 46. Thus, the main part of the conveying device 1 ″ is supported by the reinforcing wire 46 in addition to the wires 42A and 42B.

when the wires 42A and 42B have sufficient strength to support the main part of the conveying device 1 ″, the reinforcing wire 46 and the hook member 20g may be omitted.

In this way, the plurality of work arms 6 and the plurality of chain saws 7 are arranged in the circumferential direction and the vertical direction in the conveyance device 1 ″ in a state of being suspended from the moving body 2, like a boom.

The controller 5 (see fig. 2b) controls the operation of each work arm 6 and each chain saw 7 based on an operation signal input from the external operation device (not shown).

The other structures are the same as those of embodiment 2, and therefore, the description thereof is omitted.

[3-2. action/Effect ]

according to the conveying device 1 ″ of embodiment 3 of the present invention, the following effects can be obtained in addition to the operations and effects of the above-described embodiments.

Since a plurality of chain saws 7 are arranged below the moving body 2 in the circumferential direction and the vertical direction, a plurality of chain saws 7 can be used to cut at the same time, and thus cutting can be performed efficiently. Further, if pruning is performed by the chain saw 7 while rotating the turn table 34, pruning can be performed without a gap in the circumferential direction of the turn table 34, and more efficient pruning can be performed.

[3-3. other ]

(1) in the above-described embodiment, the main part of the conveying device 1 ″ is supported by the reinforcing wire 46 via the hook member 20g, but a driven trolley (traveling carriage) may be used instead of the hook member 20 g. Specifically, the support member (e.g., a rope or a bar) is lowered from the trolley, the lower end of the support member is connected to the upper surface of the moving body 2, and the trolley is driven by the conveying device 1 ″ and travels on the reinforcing wire 46. The trolley may be an automatic travel type provided with a drive device to assist the conveyance of the conveyance device 1 ″.

(2) In the above-described embodiment, the example in which the pruning chainsaw 7 is provided on the work arm 6 has been described, but the pruning chainsaw 7 is not limited thereto, and may be a type of pruning device in which a cutter such as a pruning knife or a sickle is reciprocally driven, and the work arm 6 may be provided with a work device for various applications other than pruning.

(3) A plurality of working machines (attachments) capable of being attached to the distal end of the arm 6 may be prepared, and the working machine attached to the distal end of the arm 6 may be selected as appropriate.

[4 ] embodiment 4 ]

[4-1. Structure of conveying device ]

the conveying device 1A of the present embodiment is different from the conveying devices 1, 1', 1 ″ of embodiments 1 to 3 mainly in that the main moving body is constituted by a vehicle, and that the conveying device includes an auxiliary conveying mechanism 14 in addition to the main conveying mechanism.

the conveyance device 1A will be specifically described below with reference to fig. 5.

Fig. 5 is a schematic diagram showing the overall configuration of a conveying device according to embodiment 4 of the present invention, where (a) is a cross-sectional view as seen from a side view, and (b) is a plan view.

The same elements as those in embodiment 1 are denoted by the same reference numerals and their description is omitted. In fig. 5, a motor and a battery for driving the conveyance winch are not shown.

The conveying device 1A includes a mower 2A as a main moving body and a vehicle, the mower 2A includes casters 20a, and the conveying device 1A includes a conveyance mechanism 4 and an auxiliary conveyance mechanism 14, wherein the conveyance mechanism 4 moves the mower 2A in a1 st direction D1, and the auxiliary conveyance mechanism 14 moves the mower 2A in a2 nd direction D2 intersecting with the 1 st direction D1 (orthogonal to the 1 st direction D1 in the present embodiment). By moving the mower 2A by the conveying device 1A while operating, mowing can be performed over a wide range.

the mower 2A includes: a traveling body 20; a mowing unit 21 mounted on a front surface of the traveling body 20; and a controller 5 built in the traveling body 20.

The traveling body 20 incorporates a driving device (an engine or an electric motor) for driving the mowing unit 21, and casters 20a are attached to 4 corners of the bottom surface of the traveling body 20 so as to be rotatable in the lateral direction. Further, a storage portion 20b for storing the auxiliary conveying mechanism 14 is recessed in the center of the upper surface of the traveling body 20.

As described later, the mower 2A is conveyed to the front, rear, left, and right by the conveying mechanism 4 and the auxiliary conveying mechanism 14 in a grounded state, but the caster 20a is rotatable in the lateral direction of 360 degrees, and its orientation naturally changes with the conveying direction.

The traveling body 20 is conveyed by the conveying mechanism 4 and the auxiliary conveying mechanism 14, and the traveling body 20 itself does not have a driving device for automatic traveling.

Although shown in fig. 5 for simplicity, the mowing unit 21 is open at the bottom and has a cutting implement built therein. The cutter is driven by the driving device built in the traveling body 20 to cut the vegetation 100D growing on the ground 100C. In addition, the operation of the driving device is controlled by the controller 5.

The conveyance mechanism 4 is configured in the same manner as in embodiment 1, and includes conveyance capstans 41A and 41B and wires 42A and 42B. The carrying winches 41A and 41B are fixed to the top surface of the traveling body 20 of the mowing unit 21.

the auxiliary conveyance mechanism 14 includes a trolley (1 st auxiliary moving body) 141A and a trolley (2 nd auxiliary moving body) 141B, a wire (1 st guide member) 142A, and a wire (2 nd guide member) 142B.

the line 142A extends horizontally (in the 2 nd direction D2 in plan view) between the columns 10A-1, 10A-2. The line 142B extends horizontally (in the 2 nd direction D2 in plan view) between the columns 10B-1 and 10B-2.

hereinafter, the trolley 141A and 141B will be referred to as "trolley 141" when not distinguished from each other, and the line 142A and 142B will be referred to as "line 142" when not distinguished from each other.

The trolley 141 includes: a trolley body 141a having a substantially U-shaped cross section and opening downward; a pulley 141b rotatably built inside the U-shape of the trolley body 141a and engaged with the wire 142; and a motor 141c that drives the pulley 141 b.

the end of the wire 42A fed out from the conveying winch 41A is supported by a trolley 141A, and the trolley 141A constitutes the support body 1 of the present invention. Similarly, the end of the wire 42B fed out from the conveying winch 41B is supported by the trolley 141B, and the trolley 141B constitutes the No. 2 support body of the present invention.

The motor 141c of the trolley 141 is remotely controlled by the controller 5 provided in the mower 2A, and when an advance command is input to the controller 5 from the operating device not shown, the two motors 141c of the trolleys 141A, 141B are rotated in the forward direction at the same rotational speed by the control of the controller 5, and further, the two pulleys 141B of the trolleys 141A, 141B are rotated in the forward direction at the same rotational speed. As a result, the pulleys 141B of the trolleys 141A and 141B travel on the wires 142A and 142B guided by the wires 142A and 142B, and as a result, the mowing unit 21 is conveyed forward (upward in fig. 5 (B)) along the 2 nd direction D2 together with the conveying mechanism 4 in a plan view.

on the other hand, when a backward movement command is input to the controller 5 from an operation device not shown, the controller 5 controls the operation of the motors 141c of the two trolleys 141, respectively, so that the pulleys 141b of the two trolleys 141 are rotated in opposite directions at the same rotational speed, respectively. As a result, the pulleys 141b are guided by the wire 142 and travel on the wire 142, and as a result, the mowing unit 21 is conveyed rearward (downward in fig. 5 (b)) in the 2 nd direction D2 in a plan view.

The other structures are the same as those of embodiment 1, and therefore, the description thereof is omitted.

[4-2. action/Effect ]

According to the conveying device 1A according to embodiment 4 of the present invention, the following effects can be obtained in addition to the effects of embodiment 1.

In the carrying device 1A of the present embodiment, since the auxiliary carrying mechanism 14 is provided in addition to the carrying mechanism 4, the mower 2A can be carried by the carrying mechanism 4 in the 1 st direction D1 between the supports 10A-1 and 10A-2 and the supports 10B-1 and 10B-2 in a plan view, and the mower 2A can be carried by the auxiliary carrying mechanism 14 in the 2 nd direction D2 between the supports 10A-1 and 10B-1 and the supports 10A-2 and 10B-2 in a plan view.

Therefore, according to the conveying device 1A of the present embodiment, the mower 2A can be conveyed to substantially the entire area of the area surrounded by the supports 10A-1, 10A-2, 10B-1, and 10B-2, and the conveying range of the mower 2A as the main moving body can be expanded as compared with the case where the main moving body 4 is linearly moved between the supports 10A and 10B as in embodiment 1. Therefore, the working range (mowing range) of the lawnmower 2A can be formed into a two-dimensional range.

the mower 2A is provided with a housing portion 20 b. The wires 42A and 42B can be wound by the conveyance winches 41A and 41B, and the trolleys 141A and 141B separated from the wires 142A and 142B can be stored in the storage section 20B, whereby the conveyance device 1A can be stored in the mower 2A, and the conveyance device 1A and the mower 2A can be easily conveyed.

[4-3. others ]

(1) In the above embodiment, various traveling bodies (e.g., construction machines, traveling snow blowers, and the like that are capable of traveling with a crane or a power shovel) having a working device in place of the mower 2A may be transported while the working device is operating or while the working device is stopped, or other vehicles such as various vehicles and ships may be transported.

(2) In the above embodiment, a transport device provided with the transport winches 41A and 41B may be used instead of the trolley 141 and the line 142. As this transport device, for example, a structure in which the turntable 34, the electric motor 34a, the transmission mechanism 34b, and the holding mechanism 3 are omitted from the transport device 1 shown in fig. 1(a) and (b) is illustrated.

[ 5] embodiment 5]

[5-1. Structure of conveying device ]

While the carrying device 1A of embodiment 4 is provided with the auxiliary carrying mechanism 14 to carry the mower 2A in the 2 nd direction D2, the carrying device 1B of the present embodiment is not provided with the auxiliary carrying mechanism 14, but adds a carrying winch to the main carrying mechanism to carry the mower 2A in the 2 nd direction D2 by the main carrying mechanism.

The conveyance device 1B will be specifically described below with reference to fig. 6.

Fig. 6 is a schematic plan view showing the overall configuration of the conveying device according to embodiment 5 of the present invention.

The same elements as those in embodiment 4 are denoted by the same reference numerals and their description is omitted. In fig. 6, the battery is not shown.

the conveying device 1C includes a mower 2A and a conveying mechanism 4A. The conveyance mechanism (main conveyance mechanism) 4A is configured by adding conveyance winches 41C and 41D and lines 42C and 42D connected to the conveyance winches 41C and 41D to the conveyance mechanism 4 of embodiment 4. The conveyance winches 41C and 41D are configured in the same manner as the conveyance winches 41A and 41B, and each include a pair of support frames 41A, a drum 41B, a power transmission mechanism 41D, and a motor 41C.

the conveyance winches 41C and 41D are arranged along the 2 nd direction D2. The drum 41b of the conveying winch 41C is rotated about the axis CL3, and the drum 41b of the conveying winch 41D is rotated about the axis CL4 parallel to the axis CL 3. The directions of the axes CL3 and CL4 are directions intersecting (in the present embodiment, orthogonal directions) the axes CL1 and CL2 of the conveyance winches 41A and 41B.

As shown in fig. 6, the support column 10A and the support column 10B are arranged along the 1 st direction D1, and the support column (support body) 10C and the support column (support body) 10D are arranged along the 2 nd direction D2 in a plan view.

The base end portions of the wires 42A, 42B, 42C, 42D are wound around the conveying winches 41A, 41B, 41C, 41D, and the ends are fixed to the support points PA, PB, PC, PD of the columns 10A, 10B, 10C, 10D, respectively.

by controlling the operation of the motors 41c of the conveyance winches 41A and 41B in conjunction with each other by the controller 5, the mower 2A can be moved in the 1 st direction D1 between the support point PA on the line 42A and the support point PB on the line 42B in a plan view. Similarly, by controlling the operation of the motors 41C of the conveyance winches 41C and 41D in conjunction with each other by the controller 5, the support point PC of the mower 2A on the support post 10C of the line 42C and the support point PD of the line 42B on the support post 10D can be moved in the 2 nd direction D2 between each other in a plan view.

Therefore, by controlling the operation of the motors 41C of the transport winches 41A, 41B, 41C, and 41D by the controller 5, the lawnmower 2A can be transported to an arbitrary position in the area R defined by the connection of the support points PA, PB, PC, and PD.

The support points PA, PB, PC, and PD are set at the same height, and the mower 2A is conveyed substantially horizontally (including horizontal) between the support points PA, PB, PC, and PD.

Since the carrying device 1C does not include the auxiliary conveyance mechanism 14, the mower 2A is not provided with a storage section.

The other structures are the same as those of embodiment 4, and therefore, the description thereof is omitted.

[5-2. action/Effect ]

According to the carrying device 1C of embodiment 5 of the present invention, since it is configured as described above, as in embodiment 4, the carrying range of the mower 2A as the main moving body can be expanded as compared with embodiment 1, and the working range of the mower 2A can be formed in a two-dimensional range.

[ 6] embodiment 6]

[6-1. Structure of conveying device ]

while the conveying device of each embodiment described above conveys the conveying object in the horizontal direction, the conveying device 1D of the present embodiment conveys the conveying object in the vertical direction.

the conveyance device 1D will be specifically described below with reference to fig. 7.

Fig. 7 is a schematic side view showing the overall configuration of a conveying device according to embodiment 6 of the present invention.

Note that the same elements as those in the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted. In fig. 7, the controller, the motor for driving the conveyance winch, and the battery are not shown.

a conveying device 1D of the present embodiment shown in fig. 7 is a device for performing cleaning work on a window or the like of a building 200, and conveys a nacelle (conveying object) 9 on which a cleaning operator rides along a vertical direction (including a substantially vertical direction).

as shown in fig. 7, the car 9 is attached to the rear surface (the surface opposite to the surface on which the transporting winches 41A and 41B are attached) of the movable body 2 of the transport device 1D, and the transporting winches 41A and 41B are aligned in the vertical direction (the 1 st direction) in a side view. The end of the line 42A is fixed to a support point PA of an L-shaped support (support body) 10E fixed to the ceiling of the tall building 200, the end of the line 42B is fixed to a support point PB of the floor 100C, and the lines 42A and 42B are oriented in the vertical direction or substantially vertical direction.

The nacelle 9 includes front wheels 9a, rear wheels 9c, and a suction cup 9b on the rear surface (surface facing the building 200). By providing the front wheels 9a and the rear wheels 9c, the nacelle 9 can travel on the wall surface of the building 200, and can be stably lifted and lowered. The suction cup 9b is configured to be able to advance and retreat with respect to the wall surface of the building 200 by manual operation or device driving, and the suction cup 9b is retracted and separated from the wall surface during movement of the nacelle 9, and the suction cup 9b is extended and sucked to the wall surface during operation, thereby fixing the position of the nacelle 9. The position of the nacelle 9 is fixed by suction of the suction cup 9b, so that the operator riding the nacelle 9 can perform cleaning work in a stable state.

At least one of the front and rear wheels 9a, 9c and the suction cup 9b may be omitted.

the controller 5 (see fig. 2B) controls the winding and unwinding of the wires 42A and 42B by the conveyor winches 41A and 41B in an interlocking manner, as in the above-described embodiments, thereby conveying the nacelle 9 in the vertical direction integrally with the movable body 2.

The other structures are the same as those of embodiment 1, and therefore, the description thereof is omitted.

[6-2. action/Effect ]

According to the conveying device 1C according to embodiment 6 of the present invention, since it is configured as described above, the gondola 9 can be supported by both the upper end of the wire 42A and the lower end of the wire 42B, and the lateral swing of the gondola 9 during stop and conveyance can be suppressed.

[6-3. others ]

(1) modifications 1 and 2 of embodiment 6 will be described with reference to fig. 8.

Fig. 8 is a schematic front view showing a configuration of a main part of a modification of the conveying device according to embodiment 6 of the present invention. In fig. 8, the controller, the motor for driving the conveyance winch, and the battery are not shown.

In the present modification, the conveying devices 1D 'are arranged in two rows in a lateral direction, and the rear end portions of the pedals (plate materials) 9A are fixed to the back surfaces (surfaces facing the building 200) of the conveying devices 1D'. That is, the pedal 9A is suspended on the conveying device 1D'.

Since the pedals 9A are provided on the back surface of each conveying device 1D', the front and rear wheels 9A, 9c and the suction pads 9b are provided although the pod 9 is not provided. At least one of the front and rear wheels 9a, 9c and the suction cup 9b may be omitted.

(2) In the conveying device 1D shown in fig. 7, a polishing machine as a wall surface cleaning work machine, a device for inspecting impact sound, or a painting device may be attached to the rear surface (the surface facing the building 200) of the moving body 2 without providing the gondola 9. This enables cleaning to be performed without a person. In this case, it is also preferable that the front and rear wheels 9a and 9c and the suction pad 9b are attached to the rear surface of the moving body 2.

[7 ] embodiment 7 ]

[7-1. Structure of conveying device ]

In the above embodiments, the configuration in which the separate wire is wound around each capstan has been exemplified, but the present invention is not limited to this configuration, and in the above embodiments (including the modifications) and the embodiments (including the modifications) described later, one wire may be shared by two capstans, and for example, the transport mechanism may be configured as shown in fig. 9.

Fig. 9 is a schematic diagram showing the configuration of the main parts of a conveying device 1E according to embodiment 7 of the present invention, where (a) is a side view and (b) is a plan view. In fig. 9, the same elements as those of the above-described embodiment are denoted by the same reference numerals, and the description thereof is omitted. In fig. 9, the controller 5, motors for driving the conveyance winches 41A and 41B, and batteries are not shown.

The transport winches 41A and 41B are provided in parallel on the upper surface of the moving body 2. The center portion of one wire (rope body) 42E is wound around the conveying winches 41A and 41B, respectively. In other words, the 1 st portion (1 st rope body portion) 42E-1 constituting one end side (left side in fig. 9) of the wire 42E is wound around the transporting winch 41A on the side of the moving body 2, and the 2 nd portion (2 nd rope body portion) 42E-2 constituting the other end side (right side in fig. 9) of the wire 42E is wound around the transporting winch 41A on the side of the moving body 2. The 1 st portion 42E-1 and the 1 st portion 42E-2 are fixed at their respective ends to the pillars 10A, 10B, respectively.

Although not shown in fig. 9, the controller 5 is incorporated in the moving body 2, and the transport target is directly or indirectly held by the moving body 2.

[7-2. action/Effect ]

according to embodiment 7 of the present invention, since the single common wire 42E is used for the conveyance winches 41A and 41B, the length of the wire can be saved as compared with the case where different wires are used for the conveyance winches 41A and 41B.

That is, when the moving body 2 is moved to one side (for example, left side), it is necessary to wind the wire 42E by the one transporting winch 41A and simultaneously send out the wire 42E from the other transporting winch 41B, but since it is only necessary to send out the wire 42E by the amount wound by the transporting winch 41A from the transporting winch 41B, the length of the wire can be saved compared to the case where different wires are used for the transporting winches 41A and 41B.

[7-3. other ]

modifications 1 and 2 of embodiment 7 will be described with reference to fig. 10 and 11.

Fig. 10 is a schematic diagram showing a configuration of a main part of a modified example 1 of a conveying device according to embodiment 7 of the present invention, where (a) is a side view and (b) is a plan view.

Fig. 11 is a schematic diagram showing a configuration of a main part of modification 2 of the conveying device according to embodiment 7 of the present invention, in which (a) is a side view and (b) is a plan view.

in fig. 10 and 11, the same elements as those of the conveying device 1E shown in fig. 9 are denoted by the same reference numerals, and descriptions thereof are omitted.

(1) Modification example 1

As shown in fig. 10, when one thread 42E is shared by the conveyance winches 41A and 41B, a slack 421 may occur in the thread 42E between the conveyance winches 41A and 41B depending on the balance of the winding amounts of the thread 42E by the conveyance winches 41A and 41B. When the slack portion 421 is large, it is expected that the slack portion may be wound around the conveying winches 41A and 41B. Therefore, in the transport apparatus 1E' of modification 1, the slack storage section 20d serving as a recess for storing the slack 421 is provided between the transport winches 41A and 41B in the moving body 2.

The other structures are the same as those of the conveying device 1E shown in fig. 9, and therefore, the description thereof is omitted.

(1) Modification 2

As shown in fig. 11, in a conveying device 1E ″ of modification example 2, guide rollers 20E and a tension roller 20f are additionally provided on a moving body 2, as compared with the configuration of modification example 1 shown in fig. 10. Each of the rollers 20e and 20f is set in a posture in which the axial line thereof is parallel to the axial lines of the conveying winches 41A and 41B, and both ends thereof are pivotally supported by a support member, not shown. The guide rollers 20e are disposed obliquely below the conveyance winches 41A and 41B and above the slack storage portion 20d between the conveyance winches 41A and 41B. The tension roller 20f is disposed between the guide rollers 20e and inside the slack storage 20d, and is configured to be movable up and down as indicated by an arrow by a movement mechanism not shown. When the thread 42E passes above the guide rollers 20E and slacks off the thread 42E passing below the tension roller 20f, the tension roller 20f is moved downward to apply tension to the thread 42E and remove the slacks.

The slack eliminating mechanism of the present invention is configured by providing the guide roller 20e and the tension roller 20 f.

The other structures are the same as those of the conveying device 1E' shown in fig. 10, and therefore, the description thereof is omitted.

[8 ] 8 th embodiment ]

[8-1. Structure of conveying device ]

the conveying device 1F of the present embodiment is configured as a conveying carriage that conveys the conveying object 50A.

hereinafter, a conveying device according to embodiment 8 of the present invention will be specifically described with reference to fig. 12.

fig. 12 is a schematic side view showing the overall configuration of a conveying device 1F according to embodiment 8 of the present invention.

the same elements as those in the above embodiments are denoted by the same reference numerals, and descriptions thereof are omitted. In fig. 12, the controller, the motor for driving the conveyance winch, and the battery are not shown, and the wires 42A and 42B are fixed to the support columns not shown in the drawing.

The conveyance device 1F includes: a carriage 24 having casters 20a on the front, rear, left, and right sides of the bottom surface; divided bodies 2-1, 2-2 obtained by dividing the moving body of the present invention into two parts and provided on the front and rear surfaces of the carriage 24; and a turntable 34 mounted on an upper surface of the carriage 24 in a laterally rotatable manner. The split bodies 2-1 and 2-2 are provided with conveying winches 41A and 41B. The conveyance object 50A is placed on the turntable 34.

[8-2. action/Effect ]

According to embodiment 8 of the present invention, when the orientation of the transport object 50A is to be changed between the carry-in position and the carry-out position of the transport object 50A, the transport object 50A can be changed to an appropriate orientation by rotating the turntable 34 by a predetermined amount.

[9 ] embodiment 9 ]

[9-1. Structure of conveying device ]

The conveying device 1G of the present embodiment has a structure for holding the conveying object 50A in a sandwiched manner.

hereinafter, a conveying device according to embodiment 9 of the present invention will be specifically described with reference to fig. 13.

Fig. 13 is a schematic side view showing the overall configuration of a conveying device according to embodiment 9 of the present invention.

the same elements as those in the above embodiments are denoted by the same reference numerals, and descriptions thereof are omitted. In fig. 13, the controller, the motor for driving the conveyance winch, and the battery are not shown, and the wires 42A and 42B are fixed to the support columns not shown in the drawing.

The conveying device 1G includes: a split body 2-1 having a conveying winch 41A provided on the upper surface thereof; a split body 2-2 having a conveying winch 41B provided on the upper surface thereof; an intermediate capstan 43 as an inter-distance adjusting mechanism that adjusts the distance between the split body 2-1 and the split body 2-2; and a wire 44 wound around the drum 43b of the intermediate winch 43.

The intermediate capstan 43 is provided on the surface of the divided body 2-2 facing the divided body 2-1, and includes: a pair of support frames 43a provided on the opposed faces; a reel 43b whose both ends are rotatably supported by these support frames 43 a; a power transmission mechanism 43d shown simplified; and an electric motor (hereinafter referred to as "motor") 43c that rotationally drives the drum 43b via the power transmission mechanism 43 d.

One end of the wire 44 is fixed to the surface of the divided body 2-1 facing the divided body 2-2, and the other end thereof is wound around the reel 43 b.

The distance between the split bodies 2-1 and 2-2 can be adjusted by adjusting the amount of winding of the wire 44 of the intermediate capstan 43, and the distance adjusting mechanism of the present invention is configured by including the intermediate capstan 43 and the wire 44.

The amount of winding of the thread 44 is adjusted by a forward rotation switch and a reverse rotation switch provided in part of the conveying device 1G. The forward rotation switch and the reverse rotation switch are switches for rotating the electric motor 43c forward or in reverse by a predetermined amount in accordance with the on time. In addition, the forward rotation switch and the reverse rotation switch may be remote switches.

[9-2. action/Effect ]

According to embodiment 8 of the present invention, the distance between the divided bodies 2-1 and 2-2 is adjusted by appropriately winding the wire 44 of the intermediate capstan 43, and the conveyance object 50A can be held between the divided body 2-1 and the divided body 2-2 in a sandwiched manner. In addition, the transport objects 50A such as the loads and the working machines can be transported by operating the transport winches 41A and 41B while holding the transport objects 50A.

By appropriately adjusting the amount of winding of the wire 44 of the intermediate capstan 43, the distance between the divided bodies 2-1, 2-2 can be adjusted in accordance with the size of the conveying object 50A, and therefore, conveying objects 50A of various sizes can be held and conveyed.

[9-3. others ]

(1) The conveyance target 50A is not limited to an article, and may be a person. In this case, it is conceivable to form the split members 2-1 and 2-2 by semi-annular elastic bodies so as to easily hold the waist of the person. Specifically, it is conceivable to arrange the divided bodies 2-1 and 2-2 around the waist in a state where the feet of the person with impaired legging are grounded, and to operate the transportation winches 41A and 41B to assist walking.

(2) In the transport device 1G, an air cylinder or a hydraulic cylinder may be used instead of the intermediate winch 43 and the wire 44. By adjusting the amount of advance and retreat of the drive rod of the air cylinder or the hydraulic cylinder, the distance between the split members 2-1 and 2-2 can be adjusted in the same manner as the intermediate capstan 43 and the wire 44, and the conveyance target 50A can be held between the split member 2-1 and the split member 2-2 in a sandwiched manner.

[10 ] embodiment 10 ]

the following describes a conveying device according to embodiment 10 of the present invention in detail with reference to fig. 14.

Fig. 14 is a schematic plan view showing the overall configuration of a conveying device according to embodiment 10 of the present invention.

the same elements as those in the above embodiments are denoted by the same reference numerals, and descriptions thereof are omitted. In fig. 14, the controller, the motor for driving the conveyance winch, and the battery are not shown, and the wires 42A and 42B are fixed to the support columns not shown in the drawing.

The conveying device 1H of the present embodiment is used in pairs. Each of the conveying devices 1H is configured by attaching conveying winches 41A and 41B to a surface on the side of the moving body 2. Both the conveying winches 41A and 41B are in postures in which the axial lines of the conveying winches 41A and 41B are oriented in the vertical direction, and in fig. 14, the conveying winches 41A and 41B of the left-hand side conveying device 1H are oriented in the left-hand side and the conveying winches 41A and 41B of the right-hand side conveying device 1H are oriented in the right-hand side.

a plurality of (5 in the present embodiment) agricultural implements 2B are arranged between the respective conveying devices 1H. The conveying device 1H and the agricultural implement 2B are connected to each other by a connecting member 45.

according to such a configuration, by moving the pair of conveying devices 1H in synchronization and moving the plurality of agricultural implements 2B together, agricultural work can be performed over a wide range at a time.

The connecting member 45 may be a wire or a bar (rod) as long as it has a strength necessary to move the plurality of agricultural implements 2B all at once in a state where the conveying device 1H and the agricultural implements 2B are connected to each other, and the material and shape thereof are not limited at all.

[11 ] embodiment 11 ]

[11-1. Structure of conveying device ]

The following specifically describes the conveying device according to embodiment 11 of the present invention with reference to fig. 15. In fig. 15, the controller, the motor for driving the conveyance winch, and the battery are not shown, and the wires 42A and 42B are fixed to the support columns not shown in the drawing.

Fig. 15 is a schematic side view showing the overall configuration of a conveying device 1J according to embodiment 11 of the present invention.

The same elements as those in the above embodiments are denoted by the same reference numerals, and descriptions thereof are omitted.

The conveying device 1J includes a movable body 2, a conveying mechanism 4, a turntable 34 fixed to a lower surface of the movable body 2 so as to be laterally rotatable, an oscillating body 22 attached to a lower surface of the turntable 34, an actuator 23 provided between the turntable 34 and the oscillating body 22, and a chain saw 7 for pruning attached to a lower surface end of the oscillating body 22. In addition, trees grown on the ground surface 100E are omitted in fig. 15.

the conveying device 1J is provided on an inclined floor surface 100E. Therefore, the wires 42A and 42B of the conveying mechanism 4 are laid obliquely along the inclined surface 100E, and along with this, the moving body 2 suspended by the wires 42A and 42B also assumes an oblique posture.

The oscillating body 22 is flat and faces the turntable 34, and a base end portion thereof is attached to the turntable 34 so that the oscillating body 22 can oscillate. Although the actuator 23 is shown in a simplified manner by a one-dot chain line in fig. 15, the main body of the actuator 23 is attached to the turntable 34, and the end of the drive lever that advances and retracts from the main body is attached to the vicinity of the swing end of the swing body 22. The actuator 23 controls the amount of advance and retreat of the drive lever based on the detection result of the not-shown inclination sensor, thereby holding the swinging body 22 and the chainsaw 7 in a desired inclination posture. In the present embodiment, the posture of the swinging body 22 is maintained at a horizontal posture suitable for the work of the chain saw 7. The inclination angle of the desired inclination posture of the swinging body 22 is appropriately set according to the work and the situation, and is not limited to a specific angle.

[11-2. action/Effect ]

According to the present embodiment, the posture of the chainsaw 7 attached to the swing body 22 can be maintained at a desired posture regardless of the inclination angle of the floor surface 100E on which the transport device 1J is provided, and therefore, the operation can be efficiently performed by the chainsaw 7.

[11-3. other ]

(1) in the above-described 11 th embodiment, the carrying device 1J is suspended in the air for pruning by the chain saw 7, but a mower provided with wheels may be fixed to the lower surface of the swing body 22 and may be configured to travel on the floor surface 100E. In this case, an elastic member such as a spring may be interposed in a compressed state between the dial 34 and the oscillating body 22 in place of the actuator 23. As a result, oscillating body 22 is elastically pressed against ground 100E, and oscillating body 22 and the mower naturally have an angle of inclination along ground 100E. In this case, the tilt sensor is not required.

(2) In the above-described embodiment 11, the oscillating body 22 is indirectly provided on the moving body 2 via the turntable 34, but the turntable 34 may be omitted and the oscillating body 22 may be directly attached to the moving body 2.

(3) Instead of the chain saw 7, a polishing machine may be attached to the lower surface of the swinging body 22 to clean the surface of the solar panel and the large solar panel in an inclined posture installed on the eaves of the house.

[12 ] embodiment 12 ]

The following specifically describes the conveying device according to embodiment 12 of the present invention with reference to fig. 16.

Fig. 16 is a schematic side view showing the overall configuration of a conveying device according to embodiment 12 of the present invention.

The same elements as those in the above embodiments are denoted by the same reference numerals, and descriptions thereof are omitted. In fig. 16, the controller, the motor for driving the transport winch, and the battery are not shown, and the wires 42A and 42B are fixed to the support columns not shown in the drawing.

the conveying device 1K is configured to include a box 25 having front and rear walls, left and right walls, and a bottom wall, and having an open top, divided bodies 2-1 and 2-2 provided on front and rear surfaces of the box 25, and conveying winches 41A and 41B provided on the divided bodies 2-1 and 2-2. The conveyance object 50A is housed in the box 25.

instead of the container 25, a container having a top wall in addition to the front and rear walls, the left and right walls, and the bottom wall and having a door for loading the object 50A may be used.

[13 ] embodiment 13 ]

the following specifically describes the conveying device according to embodiment 13 of the present invention with reference to fig. 17.

Fig. 17 (a) and (b) are schematic side views showing the overall configuration of the conveying device according to embodiment 13 of the present invention.

The same elements as those in the above embodiments are denoted by the same reference numerals, and descriptions thereof are omitted. In fig. 17 (a) and (B), the controller, the motor for driving the conveyance winch, and the battery are not shown, and the wires 42A 'and 42B' are fixed to the support columns outside the drawing.

the transfer device 1L further includes auxiliary winches 41A ', 41B' on the upper surface of the moving body 2, outside the conveying winches 41A, 41B. The auxiliary winches 41A ', 41B' can be detached from the moving body 2 by the bases 411 of the auxiliary winches 41A ', 41B', and the ends of the wires 42A, 42B wound around the transporting winches 41A, 41B are fixed to the respective bases 411.

With such a configuration, when the transfer device 1L is used, the auxiliary winches 41A ', 41B' are detached from the moving body 2, the lines 42A, 42B are sent out from the conveying winches 41A, 41B, and the lines 42A ', 42B' are sent out from the auxiliary winches 41A ', 41B'. Then, the ends of the wires 42A ', 42B' are fixed to unillustrated support bodies, and the wires 42A, 42B, 42A ', 42B' are bridged between these support bodies, thereby setting the conveying device 1L in a usable state.

depending on the use environment, it is conceivable that the distance between the two support bodies is long, and the wires 42A and 42B of the transport winches 41A and 41B are insufficient in length, and thus cannot be bridged between the support bodies. In this case, the supporting bodies can be bridged between each other by using the wires 42A ', 42B' of the auxiliary winches 41A ', 41B'.

Preferably, the wires 42A and 42B of the conveyance winches 41A and 41B can be detached from the base 411 of the auxiliary winches 41A 'and 41B' by one operation. This makes it possible to fix the wires 42A, 42B directly to the support body without the need for the auxiliary capstans 41A ', 41B'.

[14 ] embodiment 14 ]

[14-1. Structure of conveying device ]

The following describes a conveying device according to embodiment 14 of the present invention in detail with reference to fig. 18.

Fig. 18 is a schematic plan view showing a configuration of a main part of a conveying device 1M according to embodiment 14 of the present invention.

the same elements as those in the above embodiments are denoted by the same reference numerals, and descriptions thereof are omitted. In fig. 8, the controller, a motor for driving the conveyance winch, and a battery are not shown.

In the conveying apparatus 1M, conveying winches 41A, 41B, and 41C are provided on the upper surface of a moving body (main moving body) 2C formed of an annular plate body. The ends of the wires 42A, 42B, and 42C wound around the transport capstans 41A, 41B, and 41C are fixed to different support bodies, not shown.

the transport winches 41A, 41B, and 41C are fixed to the arc-shaped bottom plate 2B. Further, each bottom plate 2b can be moved in the circumferential direction on the moving body 2C by a manual operation or a driving device. This enables the mounting positions of the transport winches 41A, 41B, and 41C on the moving body 2C to be appropriately changed. When the base plate 2b is moved by the driving device, the driving device may be moved by remote operation.

the mobile body 2C is not limited to this, and may be mounted on the top surface of a transportation target such as a lawnmower or a vehicle.

Alternatively, the moving body 2C may be assembled to the conveying object by disposing the conveying object in a hole in the center of the moving body 2C, or the conveying object may be placed on the moving body 2C. In these cases, the conveyance winches 41A, 41B, and 41C and the bottom plate 2B may be attached to other places such as the lower surface and the side surface of the moving body 2C.

[14-2. action/Effect ]

According to the present embodiment, the moving path of the moving body 2C can be adjusted by appropriately adjusting the positions of the respective transporting winches 41A, 41B, and 41C on the moving body 2C.

[15 ] embodiment 15]

[15-1. Structure of conveying device ]

the following describes a conveying device according to embodiment 12 of the present invention in detail with reference to fig. 19.

Fig. 19 is a schematic plan view showing the overall configuration of a conveying device 1N according to embodiment 15 of the present invention.

The same elements as those in the above embodiments are denoted by the same reference numerals, and descriptions thereof are omitted. In fig. 19, the controller, a motor for driving the conveyance winch, and a battery are not shown.

the carrying device 1N is configured to include carrying winches 41A, 41B, 41C, 41D attached to the upper surface of the mower 2A, and trolleys 141A-1, 141A-2, 141B-1, 141B-2, 141C-1, 141C-2, 141D-1, 141D-2.

the trolleys 141A-1, 141A-2 travel on a line 142A supported by a support not shown, and the trolleys 141B-1, 141B-2 travel on a line 142B supported by a support not shown in parallel with the line 142A. Further, the line 142C is suspended on the trolley 141A-1, 141B-1, and the line 142D is suspended on the trolley 141A-2, 141B-2 so as to intersect the line with the line 142A, 142B, the trolley 141C-1, the trolley 141C-2 travel on the line 142C, and the trolley 141D-1, the trolley 141D-2 travel on the line 142D. The ends of the wires 42A, 42B, 42C, 42D wound around the transporting winches 41A, 41B, 41C, 41D are fixed to the trolleys 141C-1, 141D-2, 141C-2, 141D-1, 141D-1.

[15-2. action/Effect ]

according to the present embodiment, the positions of the lines 42A, 42B, 42C, and 42D that directly define the movement path of the mower 2A can be compositely changed according to the travel of the trolleys 141A-1, 141A-2, 141B-1, 141B-2, 141C-1, 141C-2, 141D-1, and 141D-2, and therefore the mower 2A can be moved more precisely and in a complicated manner.

[16. the 16 th embodiment ]

[16-1. Structure of conveying device ]

the following specifically describes the conveying device 1P according to embodiment 16 of the present invention with reference to fig. 20.

Fig. 20 is a schematic side view showing the structure of a conveying device 1P according to embodiment 16 of the present invention.

The same elements as those in the above embodiments are denoted by the same reference numerals, and descriptions thereof are omitted. In fig. 20, the controller, a motor for driving the conveyance winch, and a battery are not shown.

in the conveying device 1P, the conveying winches 41A and 41B are arranged in parallel on the upper surface of the moving body 2 so that the feeding directions of the lines 42A and 42B are opposite to each other. The ends of the wires 42A, 42B are supported by a support not shown in the drawings, as in the above embodiments.

A plurality of guide fittings 49 are mounted on the line 42B. Each guide fitting 49 is formed in a tumbler shape by connecting a small-sized ring 49a and a large-sized ring 49 b. The ring 49a penetrates the insert pin 42B, and the ring 49B penetrates the insert pin (transfer target) 48. Thereby, the pipe 48 is supported by the wire 42B via these guide fittings 49, and is guided to move along the wire 42B by the guide fittings 49. The end of the wire 42B is fixed to the end face of the moving body 2. In the present embodiment, the pipe 48 allows water to flow therethrough, and a base end thereof is connected to a water supply source (not shown) (e.g., a tap of tap water). A spray nozzle may also be fitted to the end of the tube 48.

[16-2. action/Effect ]

According to the present embodiment, since the tip of the pipe 48, that is, the water supply port can be moved integrally with the mobile body 2, water can be supplied over a wide range of, for example, a cultivated land.

[16-3. other ]

(1) A bellows may also be used in place of the tube 48. In this case, the bellows expands and contracts in accordance with the movement of the moving body 2.

(2) Although water is supplied, various fluids such as agricultural chemicals and air for cutting/harvesting fruits can be supplied without being limited to water.

(3) instead of the pipe 48, the conveying device 1P may be made large and formed into a large-sized cylindrical body through which people can pass. This makes it possible to use the internal space of the tubular body as a space for people to pass through, and to construct the space for people to pass through to an appropriate position using the conveying device 1P. In this case, a plate may be provided as the step plate at a lower portion of the inner space of the cylindrical body. The sheet is supported by the ring 49 b.

(4) Instead of supplying fluid using the pipe 48, it is also possible to use the pipe 48 for suction of fluid, for example, as a vacuum cleaner (dust suction) or as a water suction device.

[17 ] embodiment 17 ]

the following specifically describes the conveying device 1Q according to embodiment 17 of the present invention with reference to fig. 21 and 22.

Fig. 21 is a schematic plan view showing the structure of a conveying device 1Q according to embodiment 17 of the present invention.

Fig. 22 (a), (b), (c), and (d) are schematic plan views of essential parts for explaining the operation of the conveying device 1Q according to embodiment 17 of the present invention.

The same elements as those in the above embodiment are denoted by the same reference numerals and their description is omitted. In fig. 21 and 22, the controller, the motor for driving the conveyance winch, and the battery are not shown, and the wires 142A and 142B are fixed to the support outside the drawings.

[17-1. Structure of conveying device ]

The conveying device 1Q conveys the divided bodies 2-1, 2-2 in a suspended state, and as shown in fig. 21, includes: division bodies 2-1 and 2-2; a connecting mechanism 26 for connecting the divided bodies 2-1 and 2-2; transport winches 41A and 41B provided on the split bodies 2-1 and 2-2; lines 42A, 42B; and trolleys 141A, 141B. Further, a robot arm 6 is attached to each of the divided bodies 2-1 and 2-2, and a chain saw 7 is fixed to a tip end of the robot arm 6.

by adjusting the winding amounts of the wires 42A, 42B of the conveying winches 41A, 41B in cooperation, the split bodies 2-1, 2-2 can be integrally conveyed in the 1 st direction D1 (the vertical direction of the paper surface in fig. 21). The trolleys 141A, 141B travel on lines 142A, 142B extending in the 2 nd direction D2 (left-right direction of the paper in fig. 21) intersecting the lines 42A, 42B, and the ends of the lines 42A, 42B are fixed, and the divided bodies 2-1, 2-2 are conveyed in the 2 nd direction D2.

the divided bodies 2-1, 2-2 are arranged in the 1 st direction D1 with a gap therebetween, and the connection mechanism 26 is disposed in the gap.

The connection mechanism 26 includes a pair of base members 27a and 27b facing each other, and arm members 28a and 28b arranged in a gap between the base members 27a and 27 b. The base members 27a and 27b and the arm members 28a and 28b are both arc-shaped, and the connection mechanism 26 is annular as a whole.

The base members 27a, 27b are fixed at the circumferential center portions thereof to the upper surfaces of the divided bodies 2-1, 2-2. The arm member 28a is inserted into the end (right end in fig. 21) of the base member 27a, advances and retreats relative to the base member 27a by a drive mechanism (not shown), and in the extended state shown in fig. 21, the end is inserted into the end (right end in fig. 21) of the base member 27b, and becomes a connected state. Similarly, the arm member 28b is inserted into the distal end (left end in fig. 21) of the base member 27b, and is advanced and retreated relative to the base member 27b by a driving mechanism (not shown), and in the extended state shown in fig. 21, the distal end is inserted into the distal end (left end in fig. 21) of the base member 27a, and is in a connected state. That is, the link mechanism 26 is provided with two link portions spaced apart from each other in the 2 nd direction D2.

Further, the driving mechanisms of the arm members 28a, 28b are remotely operated by the operation terminal.

[17-2. action/Effect ]

As shown in fig. 22, when an obstacle exists in front in the traveling direction indicated by a blank arrow, the conveying device 1Q can be operated as follows by manual remote operation by an operator.

As shown in fig. 22 (a), when the operator confirms that the obstacle 300 is present in the traveling direction, the operator remotely operates the front arm member 28a to be in the retracted state, thereby forming a space through which the obstacle 300 can pass at a position in front of the split bodies 2-1 and 2-2. Since the base members 27a and 27b are connected by the arm member 28b, the connected state of the divided bodies 2-1 and 2-2 can be maintained even in this state.

When the transport apparatus 1Q continues to move forward and it is confirmed that the obstacle 300 enters the inner side of the arc shape of the connecting mechanism 26 as shown in fig. 22 (b), the operator remotely extends the arm member 28a so that the divided bodies 2-1 and 2-2 are connected by the arm member 28a in addition to the arm member 28 b.

when it is confirmed that the divided bodies 2-1 and 2-2 are connected by the extension of the arm member 28a, the operator quickly moves the rear arm member 28b to the retracted state by remote operation, and a space through which the obstacle 300 can pass is formed at a position behind the divided bodies 2-1 and 2-2, as shown in fig. 22 (c).

when the conveying apparatus 1Q further advances and confirms that the connecting mechanism 26 has completely passed through the obstacle 300 as shown in fig. 22 (d), the operator causes the rear arm member 28b to be in an extended state by remote operation, and the divided bodies 2-1 and 2-2 are connected more firmly by the two arm members 28a and 28 b. Thereby, the passage of the obstacle 300 is completed by the conveying device 1Q.

Therefore, according to the present embodiment, even if the obstacle 300 exists ahead in the traveling direction, the pruning operation can be performed without interruption.

[17-3. other ]

(1) In the above embodiment, the divided bodies 2-1, 2-2 are moved in a suspended state, but wheels may be provided on the divided bodies 2-1, 2-2, and the divided bodies 2-1, 2-2 may be moved on the ground by the wheels in accordance with the conveyance by the conveyance winches 41A, 41B and the trolleys 141A, 141B.

(2) in the transfer device 1Q shown in fig. 21, a set of working parts (hereinafter referred to as "working bodies") including the split bodies 2-1 and 2-2, the connecting mechanism 26 for connecting the split bodies 2-1 and 2-2, the transporting winches 41A and 41B provided in the split bodies 2-1 and 2-2, and the lines 42A and 42B is provided between the trolleys 141A and 141B, but as shown in fig. 23, a plurality of sets of working bodies are arranged between the trolleys 141A and 141B, and the plurality of sets of working bodies are caused to travel side by side in the 2 nd direction D2 by the trolleys 141A and 141B.

Fig. 23 is a schematic plan view showing the structure of a modification. The same elements as those in the above embodiment are denoted by the same reference numerals and their description is omitted. In fig. 23, the controller, the motor for driving the conveyance winch, and the battery are not shown, and the wires 142A and 142B are fixed to the support columns not shown in the drawing.

In the example shown in fig. 23, the working body 30 having the transporting winches 41A and 41B and the working body 30 'having only the transporting winch 41B are provided, and the working bodies 30 and 30' are connected to each other by a line 42B of the working body 30. In the example shown in fig. 23, two working units are provided, but the number of working units may be 3 or more, without any limitation, as long as at least one working unit provided with a plurality of conveyance winches is provided among the plurality of working units.

further, a rope may be suspended from a pulley movably attached to the wires 42A and 42B, and the automatic traveling type working machine may be supported by the rope. Examples of such a suspended working machine include a portable working machine and a lawnmower disclosed in international publication No. 2014/175197. The number of suspended working machines to be mounted may be any number.

In the configuration shown in fig. 21 to 23, the working bodies 30 and 30 ' are moved forward, backward, leftward, and rightward by the conveying devices 1Q and 1Q ', but the direction in which the working bodies 30 and 30 ' are moved is not limited at all. For example, the working units 30 and 30' may be moved up and down. As such a structure, a structure in a case where fig. 22 and 23 are viewed in side view can be exemplified.

(3) A pair of arc-shaped holding pads 27c shown by two-dot chain lines in fig. 21 and 22 (b) may be provided to the structure shown in fig. 21 and 22. The holding pads 27c are attached to the base members 27a and 27b via actuators, not shown. By operating the actuators in synchronization, the holding pads 27c can be brought into contact with each other while being separated from each other. As shown in fig. 21, the standby state is normally separated from each other, but for example, in the case where the obstacle 300 in fig. 22 (b) is not an obstacle but a tree to be harvested, the retaining pads 27c can be brought close to each other to grasp the harvested tree, and the tree can be conveyed. In the case of tree harvesting, a harvesting tool may be mounted on the conveying device 1Q, and tree harvesting may be performed using the harvesting tool, or harvesting may be performed manually by an operator using a device different from the conveying device 1Q.

[18 ] 18 th embodiment ]

[18-1. Structure of conveying device ]

The following specifically describes the conveying device 1R according to embodiment 18 of the present invention with reference to fig. 24.

Fig. 24 is a schematic diagram showing the configuration of a conveying device 1R according to embodiment 18 of the present invention, in which (a) is a plan view and (b) is a side view. In fig. 24 (a), for convenience, the vehicle body and the engine are indicated by broken lines.

The conveyance device 1R of the present embodiment is integrally configured with a vehicle (traveling body, main moving body) of an automobile. Specifically, the conveying device 1R includes: a vehicle body 150; a pair of left and right front wheels 151 and a pair of left and right rear wheels 152; an engine 153; a pair of left and right reels 154 and a pair of left and right reels 155; and wires (rope bodies) 156 wound around these reels 154, 155, respectively. The ends of each wire 156 are secured to the support post outside the figure.

the reels 154 are fixed to the front wheels 151 by mounts 154b, respectively, and the reels 155 are fixed to the rear wheels 152 by mounts 155b, respectively. Since the mounting piece 154b and the mounting piece 155b have the same structure, the mounting piece 154b will be representatively described as a representative structure. The mounting member 154b is configured to integrally include a shaft member 154c and a disc-shaped member 154d, wherein the shaft member 154c is coaxially fixed to the drum 154 of the drum 154, and the disc-shaped member 154d is coaxially fixed to the shaft member 154 c. The disc-shaped member 154d is coaxially fixed to the wheel 151 by a wheel bolt 154e of the wheel 151.

in the present embodiment, the vehicle is configured as a four-wheel drive vehicle in which four wheels, i.e., wheels 151, 152, and 152, are driven by an engine 153. The rollers 154 and 155 fixed to the wheels 151 and 152 are rotationally driven by the engine 153 integrally with the wheels 151 and 152. Therefore, the motor 153 constitutes the driving device of the present invention for rotationally driving the reels 154 and 155 via the wheels 151 and 152, and the reels 154 and 155 and the motor 153 constitute the winch of the present invention.

Here, the winding direction of the wire 156 is set to different directions on the reel 154 of the front wheel 151 and the reel 155 of the rear wheel 152. Specifically, in the left side view of fig. 24 (b), the wire 156 is wound around the drum 154 clockwise from the base end fixed to the drum 154 toward the distal end of the strut fixed to the outside of the figure, and the wire 156 is wound around the drum 155 counterclockwise from the base end toward the distal end.

Thus, while the vehicle is moving forward [ i.e., while the wheels 151 and 152 are rotating counterclockwise in the left side view of fig. 24 (b) ], the front reel 154 winds the wire 156, and the rear reel 155 feeds the wire 156, and the vehicle body 150 is conveyed forward in synchronization with the movement of the vehicle. Similarly, while the vehicle is moving backward [ i.e., while the wheels 151 and 152 rotate clockwise in the left side view of fig. 24 (b) ], the spool 154 takes out the wire 156, and the spool 155 takes up the wire 156 and carries the vehicle body 150 backward in synchronization with the backward movement of the vehicle.

further, the vehicle-mounted ECU (not shown) controls the operation of the engine 153, and further the operation of the reels 154 and 155, and further controls the position of the vehicle body 150 by the conveying device 1R in response to depression of the accelerator pedal or the like, and thus constitutes the control device of the present invention.

[18-2. Effect ]

According to embodiment 18 of the present invention, since the conveying device 1R is integrally configured with the vehicle, the following effects can be obtained, for example, in addition to the effects of the above-described embodiments.

That is, for example, as shown in fig. 24 (b), when the vehicle is raised and lowered on an inclined steep slope, it is difficult for the ordinary vehicle to stably travel, and the vehicle can be assisted in traveling by the conveyance of the conveying device 1R and lowered while being pulled or suspended by the wire 156, so that the vehicle can be prevented from slipping or rolling over, and stable traveling can be achieved.

Alternatively, in a suspended state in which the vehicle is suspended by the wire 156 and kept in the air, the vehicle body 150 can be stably lifted and lowered by conveying the vehicle body 150 by the reels 154, 155 without traveling using the wheels 151, 152.

[18-3. other ]

(1) in the above embodiment, the spool 154 on which the wire 156 is wound during forward movement is fixed to the front wheel 151, and the spool 155 on which the wire 156 is fed during forward movement is fixed to the rear wheel 152, but as shown in fig. 25, the transport device 1R' may be configured by fixing both the spools 154 and 155 to one wheel (the front wheel 151 in this example). Specifically, the drum 155 is coaxially fixed via a shaft member 155c to the outside (the side away from the vehicle body 150) of the drum 154 fixed to each front wheel 151. Alternatively, the spool 155 may be directly fixed to the spool 154. Other structures are the same as those of the above embodiment, and therefore, description thereof is omitted.

(2) in the above embodiment, the vehicle provided with the vehicle body 150 is a four-wheel drive vehicle, but may be a front-wheel drive vehicle or a rear-wheel drive vehicle. Even the driven wheel of the front wheel drive vehicle or the rear wheel drive vehicle is indirectly driven by the engine as long as it is grounded, and therefore, a winch can be attached not only to the driving wheel but also to the driven wheel. However, when the vehicle body 150 is transported in a suspended state by the winch, the winch needs to be fixed to the drive wheel.

(3) In the above embodiment, the reels 154, 155 are fixed to the wheels 151, 152, but a driving force transmission mechanism for transmitting the rotational driving force of the engine 153 may be provided separately from the driving force transmission mechanism for the wheels 151, 152, or may be provided separately from the driving force transmission mechanism. In this case, the driving force transmission mechanism may be provided with a reverse rotation prevention mechanism so that the reels 154 and 155 do not rotate in a direction for conveying the vehicle 150 opposite to the traveling direction of the vehicle.

(4) As shown in fig. 26 (a) and (b), the vehicle (conveying device 1R) according to the above embodiment may be configured in two stages, i.e., upper and lower. In fig. 26 (a), another vehicle (conveyance device 1R) is fixed upside down above the vehicle (conveyance device 1R). These vehicles are fixed to each other by a known method such as joining the roofs to each other or using fixing fittings. In fig. 26 (b), another vehicle (conveyance device 1R) is fixed above the vehicle (conveyance device 1R) in the same posture (posture with the roof facing upward). The upper vehicle is fixed to the lower vehicle using a pair of front and rear fixing fittings 157 such that a gap is left between the wheels 151, 152 of the upper vehicle and the roof of the lower vehicle. Thus, when the engine is operated, the wheels 151 and 152 of the upper vehicle (the conveying device 1R) run idle and do not substantially operate, and only the winch can be operated.

In the configuration shown in fig. 26 (a) and (b), the upper and lower vehicles (the conveying device 1R) may be released from the fixed state, and may be used separately.

(5) In the above-described embodiment, the example in which the present invention is applied to a four-wheeled vehicle as a traveling body has been described, but the number of wheels of the traveling body is not limited at all, and the present invention may be applied to a one-wheeled vehicle, a two-wheeled vehicle, and a three-wheeled vehicle, which have fewer wheels than the four-wheeled vehicle, or a vehicle, which has more wheels than the four-wheeled vehicle. Furthermore, it can be applied to railway vehicles that run on rails. Further, the present invention can be applied to an endless track traveling device in which an annular track body is wound around a plurality of wheels.

(6) the movement direction of the movement by the capstan of the conveying devices 1R and 1R' shown in fig. 24 and 25 is not limited at all, and may be, for example, a vertical movement.

(7) The conveying devices 1R and 1R' may be used indoors or outdoors.

(8) The wheels 151 and 152 of the conveying devices 1R and 1R' are engine-driven, but may be driven by wheel motors or the like.

[19. other ]

(1) In embodiment 2 and embodiment 3, as described in the column of [1-4. modification ] of embodiment 1, the work arm 6 and the chainsaw 7 may be raised and lowered by using the conveyance winches 41A and 41B.

(2) Although the turret 34 is provided and the arm 6 and the rod 8 are attached to the mobile body 2 via the turret 34 in the embodiments 2 and 3, the turret 34 may be omitted and the arm 6 and the rod 8 may be directly attached to the mobile body 2.

(3) In embodiments 4 and 5, the lawnmower 2A is conveyed by the conveyor mechanism 4 and the auxiliary conveyor mechanism 14 and is not automatically driven, but the lawnmower 2A may be an automatically driven type including a driving device such as a motor or an engine.

for example, in the carrying device 1A of embodiment 4 shown in fig. 5 (a) and (b), when the lawnmower 2A is of the automatic travel type, the lawnmower 2A is automatically moved in a flat place in a state where the auxiliary conveyance mechanism 14 is housed in the housing section 20 b. On the other hand, the columns 10A-1, 10A-2, 10B-1, 10B-2 and the lines 142A, 142B are installed at a place where it is difficult to automatically travel due to insufficient driving force or a possibility of side turning, such as a slope with a large inclination or a land with a severe undulation, and the trolleys 141A, 141B taken out from the storage section 20B are attached to the lines 142A, 142B. That is, the carrying mechanism 4 and the auxiliary carrying mechanism 14 are provided so that the mower 2A can be carried by these carrying mechanism 4 and auxiliary carrying mechanism 14 as in the above-described embodiment 2.

When the conveying device 1A is of the automatic travel type, in addition to the winches 41A and 41B or instead of the winches 41A and 41B, a drum that rotates integrally with the wheel 20a may be fixed to the wheel 20a as in the conveying devices 1R and 1R' shown in fig. 24 and 25. Alternatively, a pulley that rotates integrally with the wheel 20a may be provided on the wheel 20a, and the pulley may run on a line that extends in the horizontal direction and is provided separately from the lines 42A and 42B, like a trolley.

In the conveying device 1A shown in fig. 5 (a) and (b), the conveying device 1R shown in fig. 24, and the conveying device 1R' shown in fig. 25, a reinforcing wire 46 may be separately provided, and a hook member 20g suspended from the reinforcing wire 46 may be provided, as in the conveying device 1 ″ shown in fig. 4. Alternatively, a self-propelled or driven trolley is run on the reinforcing wire 46, a support member (e.g., a rope or a bar) is hung from the trolley, and the lower end of the support member may be fixed to the conveying devices 1A, 1R, and 1R'. Alternatively, a self-propelled or driven trolley may be directly fixed to the top surface (roof) of the traveling body 20 or the vehicle body 150, and the trolley may travel on the reinforcing wire 46.

As the trolley, a trolley 141A shown in fig. 5 (a) may be used. Alternatively, the trolley shown in fig. 27 (a) and (b) may be used.

In the trolley shown in fig. 27 (a), the trolley body 141A 'is box-shaped with respect to the trolley 141A, and the trolley body 141A' incorporates a pair of upper and lower pulleys 141 b. The lower pulley 141b is vertically movably attached to a side wall of the trolley body 141a and biased upward, and the wire 142A can be sandwiched between the pair of pulleys 141b and 141 b.

the trolley body 141 a' includes a cover 143 configured to be openable as indicated by a two-dot chain line in a lower portion of a left side wall in the drawing. The lower pulley 141b is attached to the lid 143 so as to be vertically movable as described above. With this configuration, when the wire 142A is provided between the pulleys 141b and 141b, the cover 143 may be opened, and the lower pulley 141b may be separated from the upper pulley 141b integrally with the cover 143. When detaching the wire 142A from the pulleys 141b, the cover 143 may be opened to a position offset from below the wire 142A as indicated by the two-dot chain line. At this time, although the pulley 141b moving integrally with the cover 143 collides with the wire 142A, the pulley 141b moves downward against the urging force to avoid the wire 142A by receiving the force to open the cover 143, and thus the cover 143 can be opened. The other structure is the same as the trolley 141A shown in fig. 5 (a), and therefore, the description thereof is omitted.

the pulley 141 b' of the trolley shown in fig. 27 (b) is formed deeper than the pulley 141b of the trolley 141A shown in fig. 5 (a) with a recess into which the wire 142A enters. This prevents the pulley 141 b' from being accidentally disengaged from the wire 142A.

The trolley is configured such that a bottom portion 144 of the trolley body 141 ″ can be opened and closed, and a driven roller 145 that can rotate in the extending direction of the wire 142A is provided on the bottom portion 144. When the running centerline 142A of the trolley is deflected and brought into contact with the driven roller 145, the driven roller 145 rotates in accordance with the running of the trolley, and therefore, the amount of wear of the wire 142A can be reduced as compared with the case where the wire 142A and the bottom portion 144 are in direct contact.

The other structure is the same as the trolley 141A shown in fig. 5 (a), and therefore, the description thereof is omitted.

In the transfer device 1A shown in fig. 5 (a), a trolley shown in fig. 27 (a) and (b) may be used instead of the trolley 141A.

(4) In embodiments 4 and 5, the mower 2A itself is used as the main moving body of the present invention, and the transporting winches 41A and 41B are directly attached to the mower 2A, but may be configured as shown in fig. 28.

fig. 28 is a schematic side view showing the configuration of the main parts of a modification of the conveyance device according to embodiment 4 and embodiment 5 of the present invention. The same elements as those in the above embodiment are denoted by the same reference numerals and their description is omitted. In fig. 28, the controller, the motor for driving the conveyance winch, and the battery are not shown, and the wires 42A and 42B are fixed to the support columns not shown in the drawing.

In the configuration shown in fig. 28, the mower 2A and the moving body 2 to which the transporting winches 41A and 41B are attached are separate bodies, and the mower 2A is detachably attached to the moving body 2 by fitting a plurality of protrusions 2A provided on the lower surface of the moving body 2 into a plurality of recesses 20c provided on the upper surface of the traveling body 20 of the mower 2A. That is, the holding mechanism of the present invention is constituted by a link mechanism constituted by a convex portion 2A and a concave portion 20c provided integrally with the moving body 2 or the mower 2A.

in the configuration shown in fig. 28, a dial 34 (see fig. 1) may be provided on the lower surface of the movable body 2, and the mower 2A may be held on the dial 34 by using, for example, a coupling mechanism. In this case, the convex portion 2a is not provided on the movable body 2, but on the lower surface of the turntable 34. According to this configuration, the mower 2A can be turned by the turntable 34, and the mowing unit 21 can be oriented in an appropriate direction.

further, the movable body 2 need not be integrated, and for example, as shown by a two-dot chain line in fig. 28, the movable body may be configured by a divided body 2-1 provided with a conveying winch 41A and a divided body 2-2 provided with a conveying winch 41B, and these divided bodies 2-1, 2-2 may be fixed to the front surface and the rear surface of the traveling body 20 of the mower 2A. The mounting positions of the moving body 2 and the divided bodies 2-1, 2-2 are not limited to the upper surface of the traveling body 20, and may be provided at appropriate positions, for example, the divided bodies 2-1, 2-2 may be mounted on the side surface or the lower surface of the traveling body 20.

(5) In embodiment 4 shown in fig. 5, the guide member for guiding the trolley 141 is constituted by the wire 142, but the guide member may be constituted by a rail.

(6) In embodiment 6 shown in fig. 7, the auxiliary conveying mechanism 14 may be provided as in embodiment 4, and the nacelle 9 may be further movable in the 2 nd direction (for example, the horizontal direction) intersecting the vertical direction (the 1 st direction).

(7) although the controller 5 is mounted on the mobile body 2 in each embodiment, the controller 5 is not necessarily provided on the mobile body 2. For example, the controller 5 may be provided integrally with the operating device at a location different from the mobile body 2, and may remotely control various motors provided on the mobile body 2.

(8) In the above embodiments, the moving body 2 and the mower 2A as the main moving bodies are conveyed in the horizontal direction or the vertical direction, but the conveying direction of the main moving body can be set arbitrarily. For example, the main moving body may be transported on a transport path inclined in the upper and lower directions.

(9) In the above embodiments, as the power source of the electric motors 33c, 34a, and 41c provided in the moving body 2, one of various known power sources such as a battery, a photoelectric conversion element such as a solar panel, and a fuel cell, or two or more kinds of power sources may be used in combination.

Further, the winches 41A to 41D are not limited to electric motor driving, and engine driving or hydraulic driving may be used.

(10) in the above embodiment, the conveying device, the mower conveyed by the conveying device, and the vehicle conveyed by the conveying device are exemplified by the configuration provided with the wheels, but instead of the wheels, an endless track traveling device in which an endless track body is wound around a plurality of wheels may be used. The vehicle to which the transporting winch is attached directly or via a mobile body is not limited at all, and may be a ski (sled), an airplane (including those for amusement facilities such as theme parks and amusement parks), a balloon, an airship, and a submarine such as a water probe. In recent years, buildings suspended by wires have been constructed for sightseeing and art, and as a technique for developing the construction, a transportation winch may be attached to the building directly or via a mobile body to transport the building in a suspended state.

(11) The number of the conveying winches provided in the conveying device is not limited to that of the above embodiment, and may be set as appropriate. For example, 3 transport winches may be provided in one transport device, or 4 or more transport winches may be provided.

(12) in the transport capstan, the auxiliary capstan, and the intermediate capstan in the above embodiment, a groove for winding a predetermined wire may be formed on the circumferential surface of the drum. This can prevent the wire from being mixed on the reel.

(13) In each of the above embodiments, the conveying winch is attached to the main moving body so that the cylindrical peripheral surface of the drum faces the traveling direction of the moving body, but may be attached as shown in fig. 29 (a) and (b).

fig. 29 is a schematic diagram showing a configuration of a main part of a modified example of the conveying device of the present invention, where (a) is a plan view and (b) is a sectional view taken along line a-a of (a). The same elements as those in the above embodiment are denoted by the same reference numerals and their description is omitted. In fig. 29, the controller, the motor for driving the conveyance winch, and the battery are not shown, and the wires 42A and 42B are fixed to the support columns not shown in the drawing.

in the configuration shown in fig. 29 (a) and (B), the transportation winches 41A and 41B are provided on the moving body 2 such that the cylindrical peripheral surface of the drum 41B faces the 2 nd direction D2 orthogonal to the moving direction (the 1 st direction D1) of the moving body 2. Further, guide rollers 47a are provided on the movable body 2 for the wires 42A and 42B, respectively. The guide roller 47a is a substantially disk-shaped member, and is attached to the movable body 2 so as to be horizontally rotatable in a posture in which a circular surface thereof faces the movable body 2. Further, a recessed portion 47B into which the wires 42A and 42B are fitted is formed on the circumferential surface of the guide roller 47a over the entire circumference.

With this configuration, the wires 42A and 42B fed out from the conveyance winches 41A and 41B in the 2 nd direction D2 are directed in the 1 st direction D1 by the guide of the guide roller 47 a. Further, the wires 42A, 42B directed toward the conveyance winches 41A, 41B along the 1 st direction D1 are directed toward the 2 nd direction D2 as the winding direction of the conveyance winches 41A, 41B by the guide of the guide roller 47 a.

(14) it may be configured as shown in fig. 30. Fig. 30 is a schematic perspective view showing a main part configuration of a modified example of the conveying device of the present invention. The same elements as those in the above embodiment are denoted by the same reference numerals and their description is omitted. In fig. 30, the controller, the motor for driving the conveying winch, and the battery are not shown, and each wire 41F is fixed to a support outside the drawing.

In the configuration shown in fig. 30, a main moving body (hereinafter also referred to as "housing") 2D is constituted by a housing constituted by front, rear, right and left frames. The frame body is assembled by 4 angle members. Two conveying winches 41F for winding the wire 42F are provided on each outer side surface of the housing 2D. Fig. 30 is a simplified illustration of the same structure of the transport winch 41F as that of the transport winch 41A.

By forming the main moving body 2D as a frame in this manner, the pedal can be assembled by placing a plurality of plate members 9A on the frame 2D in the front, rear, left, and right directions, as indicated by the two-dot chain lines. Further, a plurality of the plate members 9A may be provided on the upper and lower sides of the frame 2D to assemble a three-dimensional step.

in addition, a greenhouse may be provided in the housing. Since the place where sunlight is irradiated may vary depending on the weather or the time of day, with such a structure, the greenhouse can be appropriately moved to the place where sunlight is irradiated.

(15) It can also be used in the following way: an automatic traveling vehicle such as an automatic traveling type working machine is detachably mounted on a main moving body, and after the main moving body is transported to a predetermined place in a suspended state, the automatic traveling vehicle is detached from the main moving body and then automatically travels. In this case, it is preferable that the self-propelled traveling body be easily detached from the main moving body by one operation.

(16) The conveying device may be arranged in two rows above the water surface such as sea, river, lake, or the like, so that two main moving bodies are arranged in parallel, and the fish may be captured or the garbage in the water may be scooped up by a net which is held by these main moving bodies and lowered into the water. In this case, the support body for supporting the cable body may be provided on the land or on the ship.

(17) The structure of a modification of the 17 th embodiment shown in fig. 21 and 22 will be described with reference to fig. 31 and 32. The structure shown in fig. 31 and 32 is a structure for use in high-altitude work in which the structure shown in fig. 21 and 22 is formed in multiple stages in the height direction.

Fig. 31 is a schematic perspective view showing a main part configuration of a modified example of the conveying device of the present invention.

Fig. 32 is a schematic perspective view showing a main part structure of a modified example of the conveying device of the present invention.

The same elements as those in the above embodiment are denoted by the same reference numerals and their description is omitted. In fig. 31 and 32, the controller, the motor for driving the conveying winch, and the battery are not shown, and only a part of the divided bodies 2-1 and 2-2 and the arm 6 included in the two working units 30A is shown. The wires 42A and 42B are fixed to the support columns outside the figure.

in the configuration shown in fig. 31, two working units 30A hang down below the working units 30. The working body 30A has the same configuration as the working body 30 except that the transporting winches 41A and 41B are not provided.

the working elements 30, 30A, and 30A are connected to each other by a plurality of hydraulic cylinders 40. Specifically, the main bodies 40A of the plurality of hydraulic cylinders 40 are fixed to the working element 30A of the 1 st stage from the bottom, and the tip of the drive rod 40b that advances and retracts with respect to the main bodies 40A by hydraulic pressure is fixed to the lower surface of the working element 30A of the 2 nd stage from the bottom. Further, a main body 40A of the plurality of hydraulic cylinders 40 is fixed to the upper surface of the working element 30A at the 2 nd stage from the bottom, and the tip of the drive rod 40b that advances and retracts with respect to the main body 40A by hydraulic pressure is fixed to the lower surface of the working element 30 at the uppermost stage.

according to such a configuration, the respective heights of the working bodies 30A, 30A can be adjusted by controlling the amount of advance and retreat of the drive rod 40b in the hydraulic cylinder 40, using the height of the uppermost working body 30 as a fixed point, and for example, in the case of pruning a tree using the robot arm 6, the respective heights of the working bodies 30A, 30A can be adjusted according to the height of the tree.

In the configuration shown in fig. 32, two working units 30A are arranged in two stages above working unit 30B. That is, the working body is arranged in 3 stages up and down. The working body 30B includes 4 legs 35 on the front, rear, left, and right sides, the legs 35 include casters 35a at the lower ends of the working body 30, and the wheels 35a are grounded and conveyed by the conveying winches 41A and 41B.

the working elements 30B, 30A, and 30A are connected to each other by, for example, a hydraulic cylinder 40, similarly to the configuration shown in fig. 31.

With this configuration, the respective heights of the working elements 30A and 30A can be adjusted by controlling the amount of advance and retreat of the drive rod 40B in the hydraulic cylinder 40, using the height of the lowermost working element 30B as a fixed point.

In the configuration shown in fig. 31 and 32, the height of the working elements 30 and 30A is adjusted by the hydraulic cylinder 40, but various actuators may be used instead of the hydraulic cylinder 40, or an electric actuator may be used.

in the configuration shown in fig. 32, for example, a boom arm may be provided on the working body 30B, or wheels provided with a driving device, an endless track traveling device provided with a driving device, or an endless track traveling device not provided with a driving device may be used instead of the caster 35 a.

in the configuration shown in fig. 32, leg portion 35 may be configured to be automatically or manually extendable and retractable, and the height of working body 30B may be adjusted.

In each of the configurations shown in fig. 31 and 32, a retractable holding pad 27C shown by a two-dot chain line in fig. 21 and 22 (B) may be provided on at least one (preferably all) of the working elements 30, 30A, 30B, and 30C.

(18) As shown in fig. 33 to 35, a conveying winch may be provided.

fig. 33 is a schematic plan view showing a configuration of a modification of the conveying device of the present invention.

Fig. 34 is a schematic plan view showing a configuration of a modification of the conveying device of the present invention.

Fig. 35 is a schematic plan view showing a configuration of a modification of the conveying device of the present invention.

The same elements as those in the above embodiment are denoted by the same reference numerals and their description is omitted. In fig. 33 to 35, the controller, the motor for driving the transport winch, and the battery are not shown, and the wires 42G, 42H, 42J, and 42K are fixed to the support columns outside the drawings.

In the configuration shown in fig. 33, the mobile body 2 includes: a conveying capstan 41G (1 st capstan) around which a wire 42G (a rope body, 1 st rope body) is wound; and a conveying capstan 41H (2 nd capstan), around which the wire 42H (a rope body, 2 nd rope body) is wound.

The transport winches 41G and 41H include a drum 41b ', a driving device, not shown, for driving the drum 41 b', and a power source for the driving device. The shaft portion of each reel 41 b' is rotatably attached to the lateral outer side of the moving body 2 (toward the side of the 2 nd direction D2 orthogonal to the 1 st direction D1 as the moving direction of the moving body 2) and rotates about the shaft axes CLg, CLh extending in the direction intersecting the 1 st direction D1 (in this example, the 2 nd direction D2).

further, a guide mechanism 29 is provided in the radial direction of the drum 41 b' of the transport winches 41G and 41H. The guide mechanism 29 includes: an L-shaped base member 29a attached to the movable body 2 outside the conveyance winches 41G and 41H in the 1 st direction D1; a plurality of guide rollers 29b rotatably mounted on the base member 29; and a plurality of guide rollers 29c rotatably mounted on an edge portion in the 1 st direction D1 of the moving body 2.

The wires 42G and 42H fed out from the reel 41 b' are guided by the guide rollers 29b and 29c, are guided once toward the center of the moving body 2 in the 2 nd direction D2, and are then guided in the 1 st direction D1. The wires 42G and 42H wound around the reel 41b 'are guided by the guide rollers 29b and 29c, are once directed toward the center of the moving body 2 in the 2 nd direction D2, and are then directed toward the peripheral surface of the reel 41 b'.

The structure shown in fig. 34 is different from the structure shown in fig. 33 in that a guide mechanism 29A is provided instead of the guide mechanism 29. Since other configurations are the same, the same components are denoted by the same reference numerals, and the description thereof is omitted, and only the guide mechanism 29A will be described.

the guide mechanism 29A includes: a pair of driving cylinders 29D provided on both outer sides of the moving body 2 in the 1 st direction D1 and attached to the moving body 2 at intervals in the 2 nd direction D2; a base member 29e extending along a2 nd direction D2; and a plurality of guide rollers 29f rotatably mounted on the base member 29 e.

The drive cylinder 29d is configured to include a cylinder main body 29da and a drive rod 29db that advances and retracts with respect to the cylinder main body 29 da. The driving means of the driving rod 29db is not limited at all, and for example, a hydraulic driving means, an electric motor driving means, and the like can be exemplified.

A base member 29e is fixed to the end of the driving rod 29db, and a plurality of guide rollers 29f are rotatably mounted on the upper surface thereof.

The wires 42G and 42H fed out from the reel 41 b' are guided by these guide rollers 29f, are guided once toward the center of the moving body 2 in the 2 nd direction D2, and are then guided in the 1 st direction D1. The wires 42G and 42H wound around the reel 41b 'are guided by the guide rollers 29f to be once directed toward the center of the moving body 2 in the 2 nd direction D2, and then are guided to the peripheral surface of the reel 41 b'.

Further, by adjusting the amount of advance and retreat of the driving rod 29db in the driving cylinder 29d, the distance between the movable body 2 and the base member 29e and the slack of the wires 42G and 42H can be eliminated as appropriate.

In the configuration shown in fig. 33 and 34, the guide mechanisms 29 and 29A may be omitted.

in the configuration shown in fig. 35, a conveyance winch (1 st winch) 41J and a conveyance winch (2 nd winch) 41K are provided on the outer side in the 1 st direction D1 of the moving body 2. The transport winches 41J and 41K are rotatably attached to the moving body 2, and are rotationally driven by a drive device, not shown, around the axial lines CLj and CLk extending in the 1 st direction. The wire (rope body, 1 st rope body) 42J and the wire (rope body, 2 nd rope body) 42K are wound around the conveyance winch 41J and the conveyance winch 41K, and the wires 42J and 42K can be fed and wound along the 1 st direction D1 by being rotationally driven by the driving device. That is, the carrying winches 41J and 41K are constituted by reel-type winches that feed and wind the lines 42J and 42K along the axial lines CLj and CLk, like reel reels.

In the configuration shown in fig. 33 to 35, since the conveyance winches 41G, 41H, 41J, and 41K are provided outside the moving body 2, the sizes of the conveyance winches 41G, 41H, 41J, and 41K are not limited by the size of the moving body 2, and the lines 42G, 42H, 42J, and 42K can be lengthened, so that the moving distance of the conveying body 2 can be lengthened. Further, since the transport winches 41G, 41H, 41J, and 41K are provided outside the moving body 2, the usable area of the moving body 2 can be increased.

In each of the configurations shown in fig. 33 to 35, one line may be used in common in two conveyance winches as in the 7 th embodiment shown in fig. 9 to 11.

(19) a modification of embodiment 3 shown in fig. 4 will be described with reference to (a) and (b) of fig. 36.

Fig. 36 is a schematic diagram showing a configuration of a modification of the conveying device of the present invention, in which (a) is a side view and (b) is a bottom view.

in fig. 36 (a), the controller, the motor for driving the conveying winch, the battery, the hook member 20g, and the reinforcing wire 46 are not shown, and in fig. 36 (b), the lever 8 and the work arm 6 are not shown. Note that the same components as those in embodiment 3 are denoted by the same reference numerals, and description thereof is omitted.

on the lower surface of the turntable 34, a plurality of (8 in this example) drive cylinders 34c are radially mounted on the turntable 34. The drive cylinder 34c is configured to include a cylinder body 34d and a drive rod 34e that advances and retracts with respect to the cylinder body 34 d. A rod 8 depends from the end of the drive rod 34 e. The work arm 6 is mounted on a rod 8 so as to be able to be raised and lowered.

the driving source of the driving cylinder 34c is not limited at all, and for example, hydraulic driving, an electric motor, and the like can be exemplified.

the position of the lever 8 can be changed by adjusting the amount of advance and retreat of the drive lever 34 e. In other words, the diameter of the turntable 34 can be substantially changed. This enables the position of the arm 6 to be changed via the lever 8, and the working position of the arm 6 to be adjusted.

the rest is the same as embodiment 3, and therefore, the description thereof is omitted.

(20) the configuration of the conveying device exemplified in the above-described embodiment and its modified examples (hereinafter, referred to as embodiments and the like) is merely an example, and the present invention is not limited to the configurations of these embodiments and the like.

(20-1) for example, an example is shown in which the main moving body and the transport object attached to the main moving body are transported in a suspended state, and a traveling device having a driving device or a traveling device not having a driving device may be attached to the main moving body and the transport object so as to travel on the ground or the like.

In contrast, in the example illustrated in which the main moving body and the transport object attached to the main moving body travel on the ground or the like, the main moving body and the transport object may be moved in a suspended state.

(20-2) the conveying direction in which the main moving body is conveyed by the main conveying mechanism and the auxiliary conveying mechanism is not limited to the embodiment, and may be any direction such as a horizontal direction, a vertical direction, and an inclined direction. For example, in the configuration described with the top view, the conveyance can be performed in the conveyance direction even when the drawing is replaced with the side view, and in contrast, in the configuration described with the side view, the conveyance can be performed in the conveyance direction even when the drawing is replaced with the top view.

(20-3) the number of winches, working devices, working arms, wheels, etc., mounted on the main conveyance mechanism is not limited to the embodiment, etc. The position of the transportation winch is not limited at all, and may be any surface such as the upper surface, the lower surface, and the side surface of the main moving body. The position of the conveyance object is not limited as long as the conveyance object is mounted on the main moving body, and may be any position such as the upper surface, the lower surface, and the side surface of the main moving body.

(20-4) the conveyance object attached to the main conveyance mechanism or the conveyance object constituting the main conveyance mechanism is not limited to the embodiment, and may be all the conveyance objects. For example, an object may be transported by an electric apparatus for home use, a business machine, an agricultural machine, a snow remover, a vacuum cleaner, a blower, a high-pressure washer, an imaging device (e.g., a monitoring camera), a lighting apparatus, a cutting machine, a projector, a coating machine, a bird and animal removal device, an acoustic apparatus, a stage apparatus, an arm and a manipulator for civil engineering work, and the like. Since the conveyance is performed using the wire, the conveyance can be performed without being subjected to strong wind or the like.

(20-5) the driving means for driving the various components described in the embodiments such as the transporting winch, the lifting winch, the turntable, and the trolley are not limited to the embodiments, and any component may be used. For example, an electric motor, a hydraulic motor, an engine (internal combustion engine), a hydrogen engine, an ion engine, an engine utilizing nuclear energy, a rocket engine, and the like can be used as the driving device. Of course, the electric power supply system is provided in the main mobile unit when the electric motor is used, the hydraulic pressure supply system is provided in the main mobile unit when the hydraulic motor is used, the fuel supply system (a fuel tank, a gas cylinder, or the like) is provided in the main mobile unit when the engine is used, and the fuel supply system that supplies fuel for driving the hydrogen engine, the ion engine, the nuclear engine, the rocket engine, or the like is provided in the main mobile unit. As the power supply system, a battery, a solar power generator, or a combination thereof can be exemplified.

(20-6) the shape of the main moving body is not limited at all. In addition, the configuration in which the main moving body is a divided body in the embodiment and the like may be a configuration in which the main moving body is an integrated body, and conversely, the configuration in which the main moving body is an integrated body in the embodiment and the like may be a configuration in which the main moving body is a divided body. The main moving body may be a traveling body with wheels.

(20-7) instead of the trolley used in the above embodiment and the like and the line on which the trolley travels, a conveying device provided with a conveying winch may be used.

(20-8) the carrying device of the present invention may be installed not only outdoors but also indoors to carry various articles (for example, household electric appliances, business machines, agricultural machines, laundry, vacuum cleaners, and furniture). In addition, it can be used to open and close a canopy, a curtain, or a shade.

(20-9) the net can be installed between the main moving bodies in a pair and can function as a sand control net when used on a coast, a desert, or the like. Similarly, when a net is installed between a pair of main moving bodies and used in a coastal area, sea, or sea bed (hereinafter, when referred to as sea, or sea bed, not only sea but also water, or water bottom such as river or lake water), it can also function as a net for fishing, a wave net, a net for floating wood, or a recovery net for micro-pieces or substances, pollutants, and the like on the sea bed, sea, or sea bed. Furthermore, it can be used for mining and recovering mineral resources present on the sea floor and sea.

similarly, when a net is installed between a pair of host moving bodies and used in the atmosphere, stratosphere, space, or the like, it can function as an air defense net for a space debris collecting net or a catcher such as a missile. It is also possible to equip the defense network with a mine, or an electromagnetic wave generating device.

In addition, when used in the sea or under the sea, a submarine or the like can also be provided with the function of a support.

In addition, when used in the atmosphere, stratosphere, space, or the like, a flying object such as an airplane, a rocket, a space station, a space satellite, or the like may be provided with a function of a support.

further, if a plurality of pairs of main moving bodies are arranged, a net is installed between each pair of main moving bodies, and the nets are arranged in a plurality, the effect of the above function is further enhanced. For example, the wave nets may be used as wave nets or tsunami barriers.

(20-10) the present conveying device can also be applied as a cable path. In this case, a conveying device with an auxiliary winch is provided between the foot and the top of the mountain.

Further, if this principle is used, the present invention can also be used for mountaineering or sightseeing.

(20-11) when assembling the present transport apparatus, various tools are used for transport of the structural equipment. People, vehicles, ships, airplanes, needless to say, the use of unmanned aerial vehicles is also effective.

(21) The location and use of the transport device exemplified in the above embodiments and the like are merely examples, and the present invention is not limited to the location and use of the embodiments and the like. For example, the following uses are also possible.

(21-1) can also be used at sea, in the sea, on the sea bottom or in space. Since the transportation is performed using a line, the transportation can be performed without being affected by the current when the transportation is performed in the sea. That is, the present invention can be used not only in a gravity ring but also in a non-gravity ring, as described above, on the surface of the sea, the sea bottom, the space (including the stratosphere), or the moon. In the case of use in the sea or the sea, since the transportation is performed using a line, the transportation of the articles and the like can be performed without being affected by the tidal current. In addition, in addition to using nets in the sea, the sea bottom, or the space (including stratosphere), the net can be applied to a space cage and space traffic in the space. As a principle of the space capsule, for example, a large number of space capsules having auxiliary winches shown in fig. 17 (a) and (b) are provided in the longitudinal direction so as to extend from the ground to the space. In the case of use on the lunar surface, since the main moving body moves in the air, it is possible to carry articles and people without providing infrastructure such as roads.

(21-2) the present invention can also be used for transportation and construction of sand control covers to be attached to large solar panels installed in deserts and the like, transportation of submarine mineral resources, transportation and construction of construction materials for structures installed on the sea floor or in the sea (for example, submarine bases, submarine mine bases, observation devices for earthquakes and tsunamis installed on the sea floor or in the sea, natural disaster shelters for submarine/submarine hotels, tsunamis/earthquakes/volcanoes/typhoons, shelters for nuclear disasters, fires and the like), transportation and construction of materials for structures installed on the sea floor or in the sea (for example, submarine bases, submarine mines, observation devices for earthquakes and tsunamis installed on the sea floor or in the sea, natural disaster shelters for submarine/submarine hotels, tsunamis/earthquakes/volcanoes/typhoons, shelters for nuclear disasters, fires and the like), transportation of materials for structures installed on the sea floor or in the sea (for example, submarine foundations, carrying and constructing the cultivation raft and the like.

It is needless to say that the structure in this case can be configured to be movable if it is installed on a main moving body (for example, an ocean floor base, an ocean floor mine base, observation equipment for an earthquake or tsunami on the ocean floor or in the sea, a natural disaster shelter such as an ocean floor/ocean hotel, tsunami/earthquake/volcano/typhoon, a shelter for nuclear disaster, fire, or the like).

In addition, the above-described structure may be installed on the ground or in the air. In this case, examples of the structure include a ground/air base, a ground/air observation device, a ground/air hotel, a natural disaster shelter installed on the ground/air, and a shelter for nuclear/fire hazards.

(21-3) can also be used as a moving mechanism of a head of a 3D printer. In this way, when the 3D printer is mounted on the main moving body, various structures (including buildings) can be produced using the 3D printer.

(21-4) can also be used as a moving mechanism for appropriately moving the solar panel to a place where sunlight is irradiated. For example, even when the solar panel is installed in a desert, the solar panel is disposed in the air, and therefore, power generation can be performed without being affected by sand in the desert. Of course, other power generation facilities (wind power generation facility, thermal power generation facility, and the like) may be mounted on the main mobile body.

(21-5) the tank containing the agricultural chemical and the spraying device can be mounted on the main moving body and can spray the agricultural chemical while moving over a field, a paddy field, or an orchard. Alternatively, the fire-proof tank and the sprinkler may be mounted on the main moving body, and water may be sprinkled from the fire-proof tank while moving over the fire scene, so as to prevent the spread of fire. Further, by using the conveyance device to convey and move the composite material and the tunnel material to the main moving body, it is possible to contribute to automation of the composite material arranging work and the tunnel material arranging work.

Further, as an application in agriculture, if appropriate equipment is equipped in the conveyance device, the application can be applied to weeding work, hydroponic culture, an air greenhouse, and the like.

(21-6) if the transport apparatus movable in other directions as shown in FIG. 6 can be miniaturized, and if the control device of the transport apparatus is connected to a computer or the like to program the movement pattern of the transport apparatus, it can be used as a device for childhood education.

(21-7) the size of the conveying object is not limited at all, and the present invention can be applied to conveying of a conveying object having a size of several meters or a conveying object having a size of several centimeters. In the case of a large conveyance target, it is also possible to move a building such as a house using an artificial foundation in which the building is built as a main moving body.

(21-8) the conveying device can also be used for various point inspection, inspection and repair purposes. For example, a transportation device having a spot inspection and repair facility mounted therein may be installed in a tunnel or a bridge to perform a spot inspection and repair operation for a crack or the like in a structure such as a tunnel or a bridge.

In addition, the transportation device can be used to perform a spot inspection and repair operation for railway facilities, railway vehicles, airport facilities, airplanes, harbor facilities, ships, and the like.

(21-9) the conveying device can also be used for various observation purposes. For example, if various observation devices are mounted on the transport device, the device can be used for meteorological observation, observation of volcanic activity, earthquake, tsunami, resource investigation, and theft prevention. Further, if rescue equipment is mounted on the conveying device, it can also be used for rescue purposes in the event of a disaster. Further, if a fire extinguishing facility is mounted on the conveying device, it can also be used for fire fighting at the time of fire occurrence.

(21-10) the conveying apparatus can also convey the illumination devices (including illumination devices used as artificial sun) to a desired place, thereby facilitating the installation work of the illumination devices (including illumination devices used as artificial sun).

(21-11) if a robot for performing various operations is mounted on the main moving body, various operations can be performed. Of course, the robot may be configured as a humanoid robot.

(21-12) As a usage form of the carrying device, the carrying device can be used for opening and closing driving purposes of doors, windows, curtains and the like, and can also be used for carrying various articles (for example, living articles such as food and clothes), caregivers, patients and the like.

(21-13) if the transfer apparatus is equipped with a recovery pump and used on the sea, in the sea, or on the seabed, it is also possible to recover micro-slabs existing on the sea, in the sea, or on the seabed, seabed resources (methane hydrate, mineral resources from hot water deposits, rare metals, uranium, etc.), sea resources, pollutants, seawater, liquids having a different specific gravity from seawater, and the like.

In the case of recovering the above-mentioned submarine resource or marine resource, it is possible to provide a probe for a new organism (deep-sea organism, bacteria, fungi, virus, etc.) from the recovered material. Development of new drugs based on the thus-obtained novel organisms is also expected.

In addition, the pump can be used for drawing deep sea water, and the deep sea water can be used as beverage, cultivation of cultured fish, or new drug development.

(21-14) the main moving body may be suspended from a predetermined position between the support bodies by cooperating a winch of the main conveying mechanism and the rope body. Thus, for example, the present invention can be used for spot inspection repair work in a nuclear reactor, waste furnace work in a nuclear reactor, and intrusion work into gaps in buildings or cracks in the terrain. In particular, such a method of use is effective in the case of a disaster.

(22) the present invention includes all the combinations of the various configurations disclosed in the above embodiments and modifications.

(23) Supplementary note

the following remarks are disclosed with respect to the above embodiments.

(attached note 1)

A conveying device is characterized by comprising:

a main moving body;

A main conveying mechanism that conveys the main moving body; and

A control device for controlling the operation of the main conveying mechanism,

the main conveying mechanism has:

A plurality of winches provided to the main moving body, respectively; and

a plurality of rope bodies wound around the respective winches,

Each of the winches has:

A cylindrical drum rotatable about an axis; and

A drive device that rotationally drives the drum,

The rope bodies are configured to be wound around the drum of each capstan for a plurality of turns while being shifted in position in the axial direction of the drum, and the ends of the rope bodies are supported by support bodies corresponding to the capstans,

The control device controls the operation of the drive device of each winch provided on each of the main moving bodies, and conveys the main moving body to an arbitrary position on a conveyance path extending between a plurality of support bodies corresponding to the respective winches.

(note 2) the conveyance device according to note 1, wherein,

the control device adjusts the winding amount and the feeding amount of each rope body of the plurality of winches to be the same.

(addition 3) the conveyance device according to addition 1 or 2, characterized in that,

the main conveying mechanism is configured to include a1 st winch and a2 nd winch as the plurality of winches, and the plurality of rope bodies include a1 st rope body wound around a drum of the 1 st winch and a2 nd rope body wound around a drum of the 2 nd winch,

The reel of the 1 st winch can rotate around a1 st axis, the reel of the 2 nd winch can rotate around a2 nd axis parallel to the 1 st axis,

a base end side of the 1 st rope body is wound around a winding drum of the 1 st capstan and a tip end thereof is supported by a1 st support body serving as the support body,

The 2 nd rope body has a base end side wound around the winding drum of the 2 nd capstan and a tip end supported by a2 nd support body serving as the support body.

(additional note 4) the conveyance device according to any one of additional notes 1 to 3, wherein,

The main moving body is constituted by a plurality of divided bodies, and the winches are provided on the divided bodies, respectively.

(additional character 5) the conveyance device according to additional character 4,

the conveying device includes an inter-distance adjusting mechanism that adjusts a distance between the plurality of divided bodies.

(supplementary note 6) the conveyance device according to supplementary note 4,

The conveying device is provided with a connecting mechanism which enables the plurality of split bodies to be arranged along a specified direction with intervals and connects the plurality of split bodies,

The connection mechanism includes two connection portions that can be set in a connected state or a disconnected state at a distance in a direction intersecting the predetermined direction.

(additional note 7) the conveying device according to any one of additional notes 3 to 6,

The main transport mechanism moves the main moving body in a1 st direction in a plan view or a side view,

The conveying device further includes an auxiliary conveying mechanism that moves the main moving body in a2 nd direction intersecting the 1 st direction,

the auxiliary conveyance mechanism includes a1 st auxiliary moving body and a2 nd auxiliary moving body that are arranged at an interval from each other in the 1 st direction and move along the 2 nd direction, respectively,

The 1 st auxiliary moving body supports the end of the 1 st rope body to constitute the 1 st support body,

The 2 nd auxiliary moving body supports the end of the 2 nd rope body, and constitutes the 2 nd support body.

(supplementary note 8) the conveyance device according to supplementary note 7,

The main moving body includes a housing section that houses the 1 st auxiliary moving body and the 2 nd auxiliary moving body.

(supplementary note 9) the conveyance device according to supplementary note 7 or 8,

the auxiliary conveying mechanism further has a1 st guide member and a2 nd guide member extending in the 2 nd direction respectively,

The 1 st auxiliary mobile body moves in the 2 nd direction under the guidance of the 1 st guide member,

The 2 nd auxiliary moving body moves in the 2 nd direction under the guidance of the 2 nd guide member.

(Note 10) the conveyance device according to note 3, wherein,

The main transport mechanism is further provided with a 3 rd capstan and a 4 th capstan as the plurality of capstans,

the main conveying mechanism further includes a 3 rd rope body and a 4 th rope body as the plurality of rope bodies,

The reel of the 3 rd capstan being rotatable about a 3 rd axis extending in a direction intersecting the 1 st axis, the reel of the 4 th capstan being rotatable about a 4 th axis parallel to the 3 rd axis,

A base end side of the 3 rd rope body is wound around a winding drum of the 3 rd capstan and a tip end thereof is supported by a 3 rd support body as the support body,

the 4 th rope body has a base end side wound around the drum of the 4 th capstan and a tip end supported by a 4 th support body serving as the support body.

(note 11) the conveyance device according to any one of notes 1 to 10,

The host mobile body is a vehicle.

(note 12) the conveyance device according to any one of notes 1 to 10,

the conveying device includes a holding mechanism provided to the main moving body and capable of holding the conveying object.

(supplementary note 13) the conveyance device according to supplementary note 12,

the holding mechanism includes:

A hanging member having an upper end connected to the main moving body and hanging down from the main moving body; and

And a holding member attached to a lower end of the hanging member and holding the conveyance target.

(supplementary note 14) the conveyance device according to supplementary note 13,

the holding mechanism further includes a lifting device for lifting and lowering the holding member.

(additional character 15) the conveying device according to any one of the additional characters 12 to 14,

The conveying device includes a rotating mechanism attached to the main moving body and configured to rotate the conveying object in a lateral direction.

(note 16) the conveyance device according to any one of notes 12 to 15, wherein,

The conveyance target is a vehicle.

(reference numeral 17) the conveyance device according to reference numeral 16,

The vehicle is detachably held by the main moving body by the holding mechanism.

(additional character 18) the conveyance device according to any one of additional characters 12 to 15,

The conveying object is a working machine.

(reference numeral 19) the conveyance device according to the reference numeral 12,

The conveying device includes a swinging body swingably attached to the main moving body,

the holding mechanism is provided to the swinging body.

(note 20) the conveyance device according to any one of notes 1 to 10,

The conveying object is a working machine,

The conveyance device includes a plurality of hanging members having upper ends connected to the main moving body and hanging from the main moving body,

a plurality of the work machines are held by the respective hanging members.

(supplementary note 21) the conveyance device according to any one of supplementary notes 1 to 20,

the main transport mechanism moves the main moving body in a1 st direction,

At least one of the plurality of winches is configured such that the drum rotates about a shaft axis extending in a direction intersecting the 1 st direction and is disposed outside the main moving body.

(supplementary note 22) the conveyance device according to any one of supplementary notes 1 to 20,

The main transport mechanism moves the main moving body in a1 st direction,

At least one of the plurality of winches is configured such that the drum rotates about a shaft axis extending in the 1 st direction, and the at least one winch is disposed outside the main moving body,

The at least one winch is a spinning reel type winch that sends and winds the rope body wound on the winding drum of the at least one winch in the 1 st direction.

(supplementary note 23) the conveyance device according to any one of supplementary notes 1 to 22,

the main moving body is annular, and the plurality of winches are provided on the main moving body so that the installation positions thereof can be changed.

(supplementary note 24) a conveyance device, comprising:

a main moving body;

A main conveying mechanism that conveys the main moving body; and

A control device for controlling the operation of the main conveying mechanism,

The main conveying mechanism has:

A plurality of winches attached to the main moving body and having a rotatable drum and a driving device for rotationally driving the drum; and

A rope body wound around each of the reels of the plurality of winches and having a distal end supported by a support body corresponding to the winch,

the control device controls the operation of the driving devices of the plurality of winches to convey the main moving body to an arbitrary position on a conveyance path extending between the plurality of support bodies,

The main moving body is configured as a traveling body having front wheels and rear wheels that are driven by the drive device, respectively, and that is held in the air,

As the spool, a spool that winds the rope body when the traveling body advances is fixed to the front wheel so as to rotate integrally with the front wheel, and a spool that feeds out the rope body when the traveling body advances is fixed to the rear wheel so as to rotate integrally with the rear wheel.

(note 25) A conveying device, comprising:

A main moving body;

A main conveying mechanism that conveys the main moving body; and

A control device for controlling the operation of the main conveying mechanism,

The main conveying mechanism has:

a plurality of winches mounted on the main moving body and having a rotatable drum and a driving device for rotationally driving the drum; and

A rope body wound around each of the reels of the plurality of winches and having a distal end supported by a support body corresponding to the winch,

The control device controls the operation of the driving devices of the plurality of winches to convey the main moving body to an arbitrary position along a conveyance path between the plurality of support bodies,

The main moving body is configured as a traveling body having wheels driven by the driving device,

As the spool, a spool that winds the rope body when the traveling body advances and a spool that feeds out the rope body are coaxially fixed, the fixed spool is fixed to the wheel and rotates integrally with the wheel, and the wheel drives both spools.

(supplementary note 26) the conveyance device according to supplementary note 1,

An auxiliary winch is installed at the end of the rope body wound on the winch.

(supplementary note 27) a conveying device, comprising:

A main moving body;

A main conveying mechanism that conveys the main moving body; and

A control device for controlling the operation of the main conveying mechanism,

the main conveying mechanism has:

A plurality of winches mounted on the main moving body and having a rotatable drum and a driving device for rotationally driving the drum; and

a rope body wound around each of the reels of the plurality of winches and having a distal end supported by a support body corresponding to the winch,

The control device controls the operation of the driving devices of the plurality of winches to convey the main moving body to an arbitrary position along a conveyance path between the plurality of support bodies,

Further, the main conveying mechanism includes a1 st capstan and a2 nd capstan as the plurality of capstans, and the rope body includes a1 st rope body portion constituting one end side and a2 nd rope body portion constituting the other end side,

The reel of the 1 st winch can rotate around a1 st axis, the reel of the 2 nd winch can rotate around a2 nd axis parallel to the 1 st axis,

A base end side of the 1 st rope body is wound around a drum of the 1 st capstan and a tip end thereof is supported by a1 st support body serving as the support body,

A base end side of the 2 nd rope body is wound around a drum of the 2 nd capstan and a tip end thereof is supported by a2 nd support body serving as the support body,

Further, the 1 st rope body and the 2 nd rope body are integrally formed,

The 1 st winch and the 2 nd winch are installed on the upper surface of the main conveying mechanism,

A concave slack storage portion that stores a slack generated between the 1 st rope body and the 2 nd rope body is formed in the main conveying mechanism.

(note 28) a conveyance device, comprising:

A main moving body;

a main conveying mechanism that conveys the main moving body; and

A control device for controlling the operation of the main conveying mechanism,

The main conveying mechanism has:

a plurality of winches mounted on the main moving body and having a rotatable drum and a driving device for rotationally driving the drum; and

a rope body wound around each of the reels of the plurality of winches and having a distal end supported by a support body corresponding to the winch,

the control device controls the operation of the driving devices of the plurality of winches to convey the main moving body to an arbitrary position along a conveyance path between the plurality of support bodies,

Further, the main conveying mechanism includes a1 st capstan and a2 nd capstan as the plurality of capstans, and the rope body includes a1 st rope body portion constituting one end side and a2 nd rope body portion constituting the other end side,

The reel of the 1 st winch can rotate around a1 st axis, the reel of the 2 nd winch can rotate around a2 nd axis parallel to the 1 st axis,

A base end side of the 1 st rope body is wound around a drum of the 1 st capstan and a tip end thereof is supported by a1 st support body serving as the support body,

A base end side of the 2 nd rope body is wound around a drum of the 2 nd capstan and a tip end thereof is supported by a2 nd support body as the support body,

further, the 1 st rope body and the 2 nd rope body are integrally formed,

The main conveyor is formed with a slack eliminating mechanism that eliminates slack of the rope body generated between the 1 st rope body portion and the 2 nd rope body portion.

(reference numeral 29) a conveyance device, comprising:

A main moving body;

a main conveying mechanism that conveys the main moving body; and

a control device for controlling the operation of the main conveying mechanism,

the main conveying mechanism has:

A plurality of winches mounted on the main moving body and having a rotatable drum and a driving device for rotationally driving the drum; and

A rope body wound around each of the reels of the plurality of winches and having a distal end supported by a support body corresponding to the winch,

The control device controls the operation of the driving devices of the plurality of winches to convey the main moving body to an arbitrary position along a conveyance path between the plurality of support bodies,

The main conveying mechanism comprises a1 st winch and a2 nd winch as the plurality of winches, and the rope body comprises a1 st rope body portion constituting one end side and a2 nd rope body portion constituting the other end side,

The reel of the 1 st winch can rotate around a1 st axis, the reel of the 2 nd winch can rotate around a2 nd axis parallel to the 1 st axis,

A base end side of the 1 st rope body is wound around a drum of the 1 st capstan and a tip end thereof is supported by a1 st support body serving as the support body,

a base end side of the 2 nd rope body is wound around a drum of the 2 nd capstan and a tip end thereof is supported by a2 nd support body as the support body,

the main transport mechanism moves the main moving body in a1 st direction in a plan view or a side view,

The conveying device further includes an auxiliary conveying mechanism for moving the main moving body in a2 nd direction intersecting the 1 st direction,

The auxiliary conveyance mechanism has a1 st auxiliary moving body and a2 nd auxiliary moving body that are arranged at an interval from each other in the 1 st direction and move along the 2 nd direction respectively,

The 1 st auxiliary moving body supports the end of the 1 st rope portion to constitute the 1 st support body, the 2 nd auxiliary moving body supports the end of the 2 nd rope portion to constitute the 2 nd support body,

Further, the main moving body includes a housing portion that houses the 1 st auxiliary moving body and the 2 nd auxiliary moving body.

(supplementary note 30) the conveyance device according to any one of supplementary notes 27 to 29,

the control device independently adjusts the winding amount or the feeding amount of each rope body portion of the plurality of winches.

(supplementary note 31) the conveyance device according to supplementary note 27,

The conveying device is provided with a slack eliminating mechanism for eliminating slack of the rope body generated between the 1 st rope body part and the 2 nd rope body part.

Description of the reference symbols

1. 1 ', 1", 1A to 1Q, 1D ', 1E", 1Q ', 1R: a conveying device;

2. 2C: a mobile body (master mobile body);

2-1, 2-2: dividing the body;

2A: mowers (main moving body, vehicle);

2B: an agricultural machine;

3: a holding mechanism;

4. 4A: a conveying mechanism (main conveying mechanism);

5: a controller (control device);

6: an operation arm (a conveying object, an operation machine);

7: a chain saw (a conveying object, a working machine);

8: a rod (hanging member);

10A, 10A-1, 10A-2, 10B-1, 10B-2, 10C, 10D, 10E: a pillar (support body);

14: an auxiliary conveying mechanism;

20: a traveling body;

20 a: a caster wheel;

20 b: a storage section;

20 c: a recess;

20 d: a relaxation pond;

20 f: a tension roller;

21: a mowing unit;

22: a swinging body;

23: a trolley;

25: a tank;

26: a connecting mechanism;

29. 29A: a guide mechanism;

31: wires (hanging down members);

32: a holding member;

33: a winch for lifting (lifting device);

33c, 34 a: a motor;

33d, 34 b: a power transmission mechanism;

34: a turntable;

41: a capstan for conveyance;

41A, 41G, 41J: a conveying winch (1 st winch);

41B, 41H, 41K: a conveying winch (2 nd winch);

41C: a conveying winch (3 rd winch);

41D: a conveying winch (4 th winch);

41A': an auxiliary winch;

41B': an auxiliary winch;

41 a: a support frame;

41b, 41 b': a reel;

41 c: a motor (driving device);

41 d: a power transmission mechanism;

42: a wire;

42A, 42G, 42J: a wire (rope body, 1 st rope body);

42B, 42H, 42K: a wire (rope body, 2 nd rope body);

42C: a wire (rope body, 3 rd rope body);

42D: a wire (rope body, 4 th rope body);

42E: a wire (rope body);

42E-1: the 1 st portion (1 st rope body) of the wire 42E;

42E-2: the 2 nd portion (2 nd rope body) of the wire 42E;

43: an intermediate winch;

44: a wire;

45: a connecting member;

46: a reinforcing wire;

48: a pipe (conveyance target);

50: building materials (transportation objects);

50A: a conveying object;

141A: a trolley (1 st support body, 1 st auxiliary moving body);

141B: a trolley (2 nd support body, 2 nd auxiliary moving body);

142A: a wire (1 st guide member);

142B: a wire (2 nd guide member);

150: a vehicle body;

154: winches (1 st winch);

154 a: a reel;

155: winches (2 nd winch);

155 b: a reel;

156: a wire (rope body);

421: slack in the thread 42E;

CL 1: the axial line of the drum 41b of the conveying winch 41A;

CL 2: the axial line of the drum 41B of the conveying winch 41B;

CL 3: the axial line of the drum 41b of the conveying winch 41C;

CL 4: the axial line of the drum 41b of the conveying winch 41D;

d1: the 1 st direction;

d2: a2 nd direction;

p: a conveying path;

PA and PB: a support point.